In this paper, the effect of variable Blank-holder forces (VBHF) on the strain path during sheet metal forming has been investigated by numerical simulation and experiments. The formability of select aluminum alloy sh...In this paper, the effect of variable Blank-holder forces (VBHF) on the strain path during sheet metal forming has been investigated by numerical simulation and experiments. The formability of select aluminum alloy sheet was evaluated by theory prediction of forming limit curve based on the M-K method. The effect of different VBHF on the formability was presented. In order to verify the predictions of strain path, experiments are being carried out using a recently-built multi-points variable blank-holder forces hydraulic press. The results show that large side BHF with small comer BHF during rectangular box deep drawing can improve the formability of the selected aluminum alloy展开更多
Based on the plastic deformation theory and energy method, the critical blank-holder forces (BHF) of wrinkling and fracture in the cylindrical cup deep-drawing are analyzed. The verify experiments were performed and c...Based on the plastic deformation theory and energy method, the critical blank-holder forces (BHF) of wrinkling and fracture in the cylindrical cup deep-drawing are analyzed. The verify experiments were performed and compared with the theory analysis results. The predictions agree well with the experiment results. Thus, the validated presenttheoretical analysis model may be applied to determinate the suitable BHF.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
At first, a series of finite element method （FEM） simulation tests were used to find the critical forming conditions of hot-galvanized sheet steel during the rectangular box drawing processing when constant blank ho...At first, a series of finite element method （FEM） simulation tests were used to find the critical forming conditions of hot-galvanized sheet steel during the rectangular box drawing processing when constant blank holder forces were applied. According the test results, the reasonable alteration scope of initial variable blank holder force （VBHF） was as 1.9-2.3 T. Then, based on the test productions of blank holder force, 12 typical VBHF curves were applied to perform the simulation tests by the simulation software of DYNAFORM. The simulation test results showed that VBHF had great effects on drawing formability of hot-galvanized sheet steel during the rectangular box drawing. However, the different VBHF curves were applied to control the whole drawing and it would get great different effects. At the same tine, the VBHF had great effects on the maximum thick thinning ratio, but had little effect on the maximum thick incrassation ratio. So, reasonable application of the VBHF would greatly decrease the fractures. When the VBHF profile is taken as curve L, the best effect of drawing formability could be obtained. When curve I is used, contrary effect could be gotten. The other types of curves would cause effects between above two types of VBHF curves. Finally, the actual tests were applied to check the validity of the FEM simulation tests. The results show that the FEM simulation tests are good ways for predicting and optimizing the VBHF.展开更多
A new concept of banana vibrating screen which has the same effect as traditional banana vibrating screen in a new way was put forward.The dynamic model of vibrating screen was established and its working principle wa...A new concept of banana vibrating screen which has the same effect as traditional banana vibrating screen in a new way was put forward.The dynamic model of vibrating screen was established and its working principle was analyzed when the action line of the exciting force did not act through the centroid of screen box.Moreover,the dynamic differential equations of centroid and screen surface were obtained.The motions of centroid and screen surface were simulated with actual parameters of the design example in Matlab/Simulink.The results show that not only the amplitude has a significant decrease from 9.38 to 4.10 mm,but also the throwing index and vibrating direction angle have a significant decrease from 10.49 to 4.59,and from 58.10° to 33.29°,respectively,along the screen surface,which indicates that motion characteristics of vibrating screen are consistent with those of traditional banana vibrating screen only by means of a single angle of screen surface.What's more,such banana vibrating screen of variable linear trajectory with greater processing capacity could be obtained by adjusting the relative position of force center and the centroid of screen box properly.展开更多
Based on the ABAQUS/explicit finite element method,the deep drawing of 6A16 alloy pre-aged and then storaged at room temperature for 1 week with various blank-holder forces(10,14,18 kN) was studied.The distribution an...Based on the ABAQUS/explicit finite element method,the deep drawing of 6A16 alloy pre-aged and then storaged at room temperature for 1 week with various blank-holder forces(10,14,18 kN) was studied.The distribution and variation of stress and strain in deformation zones were investigated to drive the forming property and process of the alloy.Besides,the simulation result was verified combined with the deep drawing experiments.The results show that the stress and strain of the deformation zone have an incremental trend with the blank-holder force increasing while the deformation degree and grain size within a certain deformation zone have an obvious increase and an enlargement,respectively.After the deep drawing,the hardness of products also increases with the enhancement of blank-holder force.The blank-holder force of 18 kN is certified as the preferential one by the analysis of microstructure and simulation results.展开更多
Variable gauge rolling is a new process to obtain a plate for which the thickness changes continuously by continuously and dynamically adjusting the roll gap upward and downward in the rolling process.This technology ...Variable gauge rolling is a new process to obtain a plate for which the thickness changes continuously by continuously and dynamically adjusting the roll gap upward and downward in the rolling process.This technology is an efective method for producing lightweight,low-cost,and economical plates.However,variable gauge rolling is an unsteady process,and the changes in the force and deformation parameters are complex.In this research,based on the minimum energy theory of the variational principle and considering the characteristics of the roll movement and workpiece deformation comprehensively,the internal plastic deformation,friction,shear and tension powers,and the minimum result of the total power functional in upward and downward rolling are obtained with the frst integral and then with a variation of adopting the specifc plastic power and strain rate vector inner product.The analytical results of the deformation and force parameters are also established using the variational method.Then the precision of this model is certifed using the measured values in a medium plate hot rolling plant and the experimental data for Tailor Rolled Blank rolling.Good agreement is found.Additionally,the variation rule of bite angle,neutral angle,and location neutral points are shown,and the change mechanism of the friction parameter on the stress state efect coefcient is given in variable gauge rolling.This research proposes a new mathematical model for rolling process control that provides a scientifc basis and technical support for obtaining an accurate section shape in variable gauge rolling production.展开更多
Associated dynamic performance of the clamping force control valve used in continuously variable transmission(CVT)is optimized.Firstly,the structure and working principle of the valve are analyzed,and then a dynamic m...Associated dynamic performance of the clamping force control valve used in continuously variable transmission(CVT)is optimized.Firstly,the structure and working principle of the valve are analyzed,and then a dynamic model is set up by means of mechanism analysis.For the purpose of checking the validity of the modeling method,a prototype workpiece of the valve is manufactured for comparison test,and its simulation result follows the experimental result quite well.An associated performance index is founded considering the response time,overshoot and saving energy,and five structural parameters are selected to adjust for deriving the optimal associated performance index.The optimization problem is solved by the genetic algorithm(GA)with necessary constraints.Finally,the properties of the optimized valve are compared with those of the prototype workpiece,and the results prove that the dynamic performance indexes of the optimized valve are much better than those of the prototype workpiece.展开更多
In this study, free and forced vibration analysis of nano-composite rotating pressurized microbeam reinforced by carbon nanotubes （CNTs） under magnetic field based on modify couple stress theory （MCST） with temper...In this study, free and forced vibration analysis of nano-composite rotating pressurized microbeam reinforced by carbon nanotubes （CNTs） under magnetic field based on modify couple stress theory （MCST） with temperature-variable material propertiesis presented. Also, the boundary conditions at two ends of nano-composite rotating pressurized microbeam reinforced by CNTs are considered as simply supported. The governing equations are obtained based on the Hamilton＇s principle and then computed these equations by using Navier＇s solution. The magnetic field is inserted in the thickness direction of the nano-composite microbeam. The effects of various parameters such as angular velocity, temperature changes, and pressure between of the inside and outside, the magnetic field, material length scale parameter, and volume fraction of nanocomposite microbeam on the natural frequency and response systemare studied. The results show that with increasing volume fraction of nano-composite microbeam, thickness, material length scale parameter, and magnetic fields, the natural frequency increases. The results of this research can be used for optimization of micro-structures and manufacturing sensors, displacement fluid, and drug delivery.展开更多
The differential equations of motion of a comtlaint system with parameters and variable mass, of a system with variable mass and servo constraints and those for the control problem on the forced motion of constraint s...The differential equations of motion of a comtlaint system with parameters and variable mass, of a system with variable mass and servo constraints and those for the control problem on the forced motion of constraint systems with variable mass are given respectively. Finally, an example is presented.展开更多
Redundantly actuated planar rotational parallel mechanisms（RAPRPMs） adapt to the requirements of robots under different working conditions by changing the antagonistic internal force to tune their stiffness.The geom...Redundantly actuated planar rotational parallel mechanisms（RAPRPMs） adapt to the requirements of robots under different working conditions by changing the antagonistic internal force to tune their stiffness.The geometrical parameters of the mechanism impact the performances of modulating stiffness.Analytical expressions relating stiffness and geometrical parameters of the mechanism were formulated to obtain the necessary conditions of variable stiffness.A novel method of variable stiffness design was presented to optimize the geometrical parameters of the mechanism.The stiffness variation with the internal force was maximized.The dynamic change of stiffness with the dynamic location of the mechanism was minimized,and the robustness of stiffness during the motion of the mechanism was ensured.This new approach to variable stiffness design can enable off-line planning of the internal force to avoid the difficulties of on-line control of the internal force.展开更多
Despite small workspace, parallel manipulators have some advantages over their serial counterparts in terms of higher speed, acceleration, rigidity, accuracy, manufacturing cost and payload. Accordingly, this type of ...Despite small workspace, parallel manipulators have some advantages over their serial counterparts in terms of higher speed, acceleration, rigidity, accuracy, manufacturing cost and payload. Accordingly, this type of manipulators can be used in many applications such as in high-speed machine tools, tuning machine for feeding, sensitive cutting, assembly and packaging. This paper presents a special type of planar parallel manipulator with three degrees of freedom. It is constructed as a variable geometry truss generally known planar Stewart platform. The reachable and orientation workspaces are obtained for this manipulator. The inverse kinematic analysis is solved for the trajectory tracking according to the redundancy and joint limit avoidance. Then, the dynamics model of the manipulator is established by using Virtual Work method. The simulations are performed to follow the given planar trajectories by using the dynamic equations of the variable geometry truss manipulator and computed force control method. In computed force control method, the feedback gain matrices for PD control are tuned with fixed matrices by trail end error and variable ones by means of optimization with genetic algorithm.展开更多
It has been well known that nozzle end-clearances in a Variable Nozzle Turbine（VNT）are unfavorable for aerodynamic performance, especially at small openings, and efforts to further decrease size of the clearances ar...It has been well known that nozzle end-clearances in a Variable Nozzle Turbine（VNT）are unfavorable for aerodynamic performance, especially at small openings, and efforts to further decrease size of the clearances are very hard due to thermal expansion. In this paper, both the different sizes of nozzle end-clearances and the various ratios of their distribution at the hub and shroud sides were modelled and investigated by performing 3D Computational Fluid Dynamics（CFD） and Finite Element Analysis（FEA） simulations with a code of transferring the aerodynamic pressure from the CFD results to the FEA calculations. It was found that increasing the size of the nozzle end-clearances divided equally at the hub and shroud sides deteriorates turbine efficiency and turbine wheel reliability, yet increases turbine flow capacity. And, when the total nozzle endclearances remain the same, varying nozzle end-clearances＇ distribution at the hub and shroud sides not only shifts operation point of a VNT turbine, but also affects the turbine wheel vibration stress.Compared with nozzle hub clearance, the shroud clearance is more sensitive to both aerodynamic performance and reliability of a VNT turbine. Consequently, a possibility is put forward to improve VNT turbine efficiency meanwhile decrease vibration stress by optimizing nozzle end-clearances＇ distribution.展开更多
A bimorph piezoelectric beam with periodically variable cross-sections is used for the vibration energy harvesting. The effects of two geometrical parameters on the first band gap of this periodic beam are investigate...A bimorph piezoelectric beam with periodically variable cross-sections is used for the vibration energy harvesting. The effects of two geometrical parameters on the first band gap of this periodic beam are investigated by the generalized differential quadrature rule （GDQR） method. The GDQR method is also used to calculate the forced vibration response of the beam and voltage of each piezoelectric layer when the beam is subject to a sinusoidal base excitation. Results obtained from the analytical method are compared with those obtained from the finite element simulation with ANSYS, and good agreement is found. The voltage output of this periodic beam over its first band gap is calculated and compared with the voltage output of the uniform piezoelectric beam. It is concluded that this periodic beam has three advantages over the uniform piezoelectric beam, i.e., generating more voltage outputs over a wide frequency range, absorbing vibration, and being less weight.展开更多
With the structure of two air gaps and two rotors, the electromagnetic continuously variable transmission（EMCVT） is a novel power-split continuously variable transmission（CVT）. There are two kinds of power flowing...With the structure of two air gaps and two rotors, the electromagnetic continuously variable transmission（EMCVT） is a novel power-split continuously variable transmission（CVT）. There are two kinds of power flowing through the EMCVT, one is mechanical power and the other is electric power. In the mean time, there are three power ports in the EMCVT, one is the outer rotor named mechanical power port and the other two are the inner rotor and the stator named electric power ports. The mechanical power port is connected to the driving wheels through the final gear and the electric ports are connected to the batteries through the transducers. The two kinds of power are coupled on the outer rotor of the EMCVT. The EMCVT can be equipped on the conventional vehicle being regarded as the CVT and it also can be equipped on the hybrid electric vehicle（HEV） as the multi-energy sources assembly. The power flows of these two kinds of applications are analysed. The back electromotive force（EMF） equations are illatively studied and so the dynamic mathematic model is theorized. In order to certify the feasibility of the above theories, three simulations are carried out in allusion to the above two kinds of mentioned applications of the EMCVT and a five speed automatic transmission（AT） vehicle. The simulation results illustrate that the efficiency of the EMCVT vehicles is higher than that of the AT vehicle owed to the optimized operation area of the engine. Hence the fuel consumption of the EMCVT vehicles is knock-down.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
Cavitation number and speed are capable of variation during the motion of supercavitating vehicle underwater, for example, under the condition of accelerated motion stage and external disturbance. The dynamic model an...Cavitation number and speed are capable of variation during the motion of supercavitating vehicle underwater, for example, under the condition of accelerated motion stage and external disturbance. The dynamic model and control challenge associated with the longitudinal motion of supereavitating vehicle with variable cavitation number and speed have been explored. Based on the principle of cavity expansion independence the properties of cavity and the influence on planning force of body were researched. Calculation formula of efficiency of the fin was presented. Nonlinear dynamics model of variable cavitation number and speed supercavitating vehicle was established. Stabilities of the open-loop systems of different situations were analyzed. The simulations results of open-loop systems show that it is necessary to design a control method to control a supereavitating vehicle. A gain schedule controller with guaranteed H∞ performance was designed to stabilize the dive-plane dynamics of supercavitating vehicle under changing conditions.展开更多
In order to decrease the fluid drag on an underwater robot manipulator, an optimal trajectory method based on the variational method is presented. By introducing the adjoint variables, which are Lagrange multipliers, ...In order to decrease the fluid drag on an underwater robot manipulator, an optimal trajectory method based on the variational method is presented. By introducing the adjoint variables, which are Lagrange multipliers, we formulate a Lagrange function under certain constraints related to the target angle, target angular velocity, and dynamic equation of the robot manipulator. The state equation (the partial differentiation of the Lagrange function with respect to the state variables), adjoint equation (the partial differentiation of the Lagrange function with respect to the adjoint variables), and sensitivity equation (the partial differentiation of the Lagrange function with respect to torques) can be derived from the stationary conditions of the Lagrange function. Using the state equation, we can calculate the state variables (angles, angular velocities, and angular acceleration) at every time step in the forward time direction. These state variables are stored as data at every time step. Next, by using the adjoint equation, we can calculate the adjoint variables by using these state variables at every time step in the backward time direction. These adjoint variables are stored as data at every time step. Third, the sensitivity equation is calculated by using both the state variables and the adjoint variables. Finally, the optimal trajectory of the manipulator is obtained using the sensitivities. The proposed method is applied to the problem of two-link manipulators. It can obtain the optimal drag reduction trajectory of the manipulator under the constraints mentioned above.展开更多
At the first time,the finite element method was used to model and analyze the free vibration and transient response of non-uniform thickness bi-directional functionally graded sandwich porous(BFGSP)skew plates.The who...At the first time,the finite element method was used to model and analyze the free vibration and transient response of non-uniform thickness bi-directional functionally graded sandwich porous(BFGSP)skew plates.The whole BFGSP skew-plates is placed on a variable visco-elastic foundation(VEF)in the hygro-thermal environment and subjected to the blast load.The BFGSP skew-plate thickness is permitted to vary non-linearly over both the length and width of the skew-plate,thereby faithfully representing the real behavior of the structure itself.The analysis is based on a four-node planar quadrilateral element with eight degrees of freedom per node,which is approximated using Lagrange Q_(4)shape function and C^(1)level non-conforming Hermite shape function based on refined higher-order shear deformation plate theory.The forced vibration parameters of the non-uniform thickness BFGSP skew-plate are fully determined using Hamilton's principle and the Newmark-βdirect integration technique.Accuracy of the calculation program is validated by comparing its numerical results with those from reputable sources.Furthermore,a thorough assessment is conducted to determine the impact of various parameters on the free and forced vibration responses of the non-uniform thickness BFGSP skew-plate.The findings of the paper may be used in the development of civil and military structures in situations that are prone to exceptional forces,such as explosions and impacts load.展开更多
The dynamics of a solid spherical body in an oscillating liquid flow in a vertical axisymmetric channel of variable cross section is experimentally studied.It is shown that the oscillating liquid leads to the generati...The dynamics of a solid spherical body in an oscillating liquid flow in a vertical axisymmetric channel of variable cross section is experimentally studied.It is shown that the oscillating liquid leads to the generation of intense averaged flows in each of the channel segments.The intensity and direction of these flows depend on the dimensionless oscillating frequency.In the region of studied frequencies,the dynamics of the considered body is examined when the primary vortices emerging in the flow occupy the whole region in each segment.For a fixed frequency,an increase in the oscillation amplitude leads to a phase-inclusion holding effect,i.e.,the body occupies a quasi-stationary position in one of the cells of the vertical channel,while oscillating around its average position.It is also shown that the oscillating motion of a liquid column generates an averaged force acting on the body,the magnitude of which depends on the properties of the body and its position in the channel.The quasi-stationary position is determined by the relative density and size of the body,as well as the dimensionless frequency.The behavior of the body as a function of the amplitude and frequency of fluid oscillation and relative size is discussed in detail.Such findings may be used in the future to control the position of a phase inclusion and/or to strengthen mass transfer effects in a channel of variable cross section by means of fluid oscillations.展开更多
基金This research was supported by the National Natural Science Foundation of China
文摘In this paper, the effect of variable Blank-holder forces (VBHF) on the strain path during sheet metal forming has been investigated by numerical simulation and experiments. The formability of select aluminum alloy sheet was evaluated by theory prediction of forming limit curve based on the M-K method. The effect of different VBHF on the formability was presented. In order to verify the predictions of strain path, experiments are being carried out using a recently-built multi-points variable blank-holder forces hydraulic press. The results show that large side BHF with small comer BHF during rectangular box deep drawing can improve the formability of the selected aluminum alloy
基金This research was supported by the National Natural Science Foundation of China
文摘Based on the plastic deformation theory and energy method, the critical blank-holder forces (BHF) of wrinkling and fracture in the cylindrical cup deep-drawing are analyzed. The verify experiments were performed and compared with the theory analysis results. The predictions agree well with the experiment results. Thus, the validated presenttheoretical analysis model may be applied to determinate the suitable BHF.
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.
文摘At first, a series of finite element method （FEM） simulation tests were used to find the critical forming conditions of hot-galvanized sheet steel during the rectangular box drawing processing when constant blank holder forces were applied. According the test results, the reasonable alteration scope of initial variable blank holder force （VBHF） was as 1.9-2.3 T. Then, based on the test productions of blank holder force, 12 typical VBHF curves were applied to perform the simulation tests by the simulation software of DYNAFORM. The simulation test results showed that VBHF had great effects on drawing formability of hot-galvanized sheet steel during the rectangular box drawing. However, the different VBHF curves were applied to control the whole drawing and it would get great different effects. At the same tine, the VBHF had great effects on the maximum thick thinning ratio, but had little effect on the maximum thick incrassation ratio. So, reasonable application of the VBHF would greatly decrease the fractures. When the VBHF profile is taken as curve L, the best effect of drawing formability could be obtained. When curve I is used, contrary effect could be gotten. The other types of curves would cause effects between above two types of VBHF curves. Finally, the actual tests were applied to check the validity of the FEM simulation tests. The results show that the FEM simulation tests are good ways for predicting and optimizing the VBHF.
基金Projects(50574091, 50774084) supported by the National Natural Science Foundation of ChinaProject(50921001) supported by the Innovative Research Group Science Foundation,ChinaProject supported by Jiangsu Scientific Researching Fund Project ("333" Project),China
文摘A new concept of banana vibrating screen which has the same effect as traditional banana vibrating screen in a new way was put forward.The dynamic model of vibrating screen was established and its working principle was analyzed when the action line of the exciting force did not act through the centroid of screen box.Moreover,the dynamic differential equations of centroid and screen surface were obtained.The motions of centroid and screen surface were simulated with actual parameters of the design example in Matlab/Simulink.The results show that not only the amplitude has a significant decrease from 9.38 to 4.10 mm,but also the throwing index and vibrating direction angle have a significant decrease from 10.49 to 4.59,and from 58.10° to 33.29°,respectively,along the screen surface,which indicates that motion characteristics of vibrating screen are consistent with those of traditional banana vibrating screen only by means of a single angle of screen surface.What's more,such banana vibrating screen of variable linear trajectory with greater processing capacity could be obtained by adjusting the relative position of force center and the centroid of screen box properly.
基金financially supported by the National Key Research and Development Program of China (No. 2016YFB0300805)
文摘Based on the ABAQUS/explicit finite element method,the deep drawing of 6A16 alloy pre-aged and then storaged at room temperature for 1 week with various blank-holder forces(10,14,18 kN) was studied.The distribution and variation of stress and strain in deformation zones were investigated to drive the forming property and process of the alloy.Besides,the simulation result was verified combined with the deep drawing experiments.The results show that the stress and strain of the deformation zone have an incremental trend with the blank-holder force increasing while the deformation degree and grain size within a certain deformation zone have an obvious increase and an enlargement,respectively.After the deep drawing,the hardness of products also increases with the enhancement of blank-holder force.The blank-holder force of 18 kN is certified as the preferential one by the analysis of microstructure and simulation results.
基金Supported by National Natural Science Foundation of China(Grant Nos.51904206,52105390,51974196,51805359)Open Research Fund from the State Key Laboratory of Rolling and Automation,Northeastern University(Grant No.2020RALKFKT011)+1 种基金Shanxi Province Science and Technology Major Projects(Grant No.20181102015)China Postdoctoral Science Foundation(Grant No.2020M670705).
文摘Variable gauge rolling is a new process to obtain a plate for which the thickness changes continuously by continuously and dynamically adjusting the roll gap upward and downward in the rolling process.This technology is an efective method for producing lightweight,low-cost,and economical plates.However,variable gauge rolling is an unsteady process,and the changes in the force and deformation parameters are complex.In this research,based on the minimum energy theory of the variational principle and considering the characteristics of the roll movement and workpiece deformation comprehensively,the internal plastic deformation,friction,shear and tension powers,and the minimum result of the total power functional in upward and downward rolling are obtained with the frst integral and then with a variation of adopting the specifc plastic power and strain rate vector inner product.The analytical results of the deformation and force parameters are also established using the variational method.Then the precision of this model is certifed using the measured values in a medium plate hot rolling plant and the experimental data for Tailor Rolled Blank rolling.Good agreement is found.Additionally,the variation rule of bite angle,neutral angle,and location neutral points are shown,and the change mechanism of the friction parameter on the stress state efect coefcient is given in variable gauge rolling.This research proposes a new mathematical model for rolling process control that provides a scientifc basis and technical support for obtaining an accurate section shape in variable gauge rolling production.
基金Key Science-Technology Foundation of Hunan Province,China(No.05GK2007).
文摘Associated dynamic performance of the clamping force control valve used in continuously variable transmission(CVT)is optimized.Firstly,the structure and working principle of the valve are analyzed,and then a dynamic model is set up by means of mechanism analysis.For the purpose of checking the validity of the modeling method,a prototype workpiece of the valve is manufactured for comparison test,and its simulation result follows the experimental result quite well.An associated performance index is founded considering the response time,overshoot and saving energy,and five structural parameters are selected to adjust for deriving the optimal associated performance index.The optimization problem is solved by the genetic algorithm(GA)with necessary constraints.Finally,the properties of the optimized valve are compared with those of the prototype workpiece,and the results prove that the dynamic performance indexes of the optimized valve are much better than those of the prototype workpiece.
基金the Iranian Nanotechnology Development Committee for their financial supportthe University of Kashan (463855/7)
文摘In this study, free and forced vibration analysis of nano-composite rotating pressurized microbeam reinforced by carbon nanotubes （CNTs） under magnetic field based on modify couple stress theory （MCST） with temperature-variable material propertiesis presented. Also, the boundary conditions at two ends of nano-composite rotating pressurized microbeam reinforced by CNTs are considered as simply supported. The governing equations are obtained based on the Hamilton＇s principle and then computed these equations by using Navier＇s solution. The magnetic field is inserted in the thickness direction of the nano-composite microbeam. The effects of various parameters such as angular velocity, temperature changes, and pressure between of the inside and outside, the magnetic field, material length scale parameter, and volume fraction of nanocomposite microbeam on the natural frequency and response systemare studied. The results show that with increasing volume fraction of nano-composite microbeam, thickness, material length scale parameter, and magnetic fields, the natural frequency increases. The results of this research can be used for optimization of micro-structures and manufacturing sensors, displacement fluid, and drug delivery.
文摘The differential equations of motion of a comtlaint system with parameters and variable mass, of a system with variable mass and servo constraints and those for the control problem on the forced motion of constraint systems with variable mass are given respectively. Finally, an example is presented.
基金supported by the National Natural Science Foundation of China(No.51275127)
文摘Redundantly actuated planar rotational parallel mechanisms（RAPRPMs） adapt to the requirements of robots under different working conditions by changing the antagonistic internal force to tune their stiffness.The geometrical parameters of the mechanism impact the performances of modulating stiffness.Analytical expressions relating stiffness and geometrical parameters of the mechanism were formulated to obtain the necessary conditions of variable stiffness.A novel method of variable stiffness design was presented to optimize the geometrical parameters of the mechanism.The stiffness variation with the internal force was maximized.The dynamic change of stiffness with the dynamic location of the mechanism was minimized,and the robustness of stiffness during the motion of the mechanism was ensured.This new approach to variable stiffness design can enable off-line planning of the internal force to avoid the difficulties of on-line control of the internal force.
文摘Despite small workspace, parallel manipulators have some advantages over their serial counterparts in terms of higher speed, acceleration, rigidity, accuracy, manufacturing cost and payload. Accordingly, this type of manipulators can be used in many applications such as in high-speed machine tools, tuning machine for feeding, sensitive cutting, assembly and packaging. This paper presents a special type of planar parallel manipulator with three degrees of freedom. It is constructed as a variable geometry truss generally known planar Stewart platform. The reachable and orientation workspaces are obtained for this manipulator. The inverse kinematic analysis is solved for the trajectory tracking according to the redundancy and joint limit avoidance. Then, the dynamics model of the manipulator is established by using Virtual Work method. The simulations are performed to follow the given planar trajectories by using the dynamic equations of the variable geometry truss manipulator and computed force control method. In computed force control method, the feedback gain matrices for PD control are tuned with fixed matrices by trail end error and variable ones by means of optimization with genetic algorithm.
基金co-supported by the Natural Science Foundation of Hebei Province of China(No.E2017402135)the Program of Science and Technology Research and Development of Handan of China(No.1621212047-2)
文摘It has been well known that nozzle end-clearances in a Variable Nozzle Turbine（VNT）are unfavorable for aerodynamic performance, especially at small openings, and efforts to further decrease size of the clearances are very hard due to thermal expansion. In this paper, both the different sizes of nozzle end-clearances and the various ratios of their distribution at the hub and shroud sides were modelled and investigated by performing 3D Computational Fluid Dynamics（CFD） and Finite Element Analysis（FEA） simulations with a code of transferring the aerodynamic pressure from the CFD results to the FEA calculations. It was found that increasing the size of the nozzle end-clearances divided equally at the hub and shroud sides deteriorates turbine efficiency and turbine wheel reliability, yet increases turbine flow capacity. And, when the total nozzle endclearances remain the same, varying nozzle end-clearances＇ distribution at the hub and shroud sides not only shifts operation point of a VNT turbine, but also affects the turbine wheel vibration stress.Compared with nozzle hub clearance, the shroud clearance is more sensitive to both aerodynamic performance and reliability of a VNT turbine. Consequently, a possibility is put forward to improve VNT turbine efficiency meanwhile decrease vibration stress by optimizing nozzle end-clearances＇ distribution.
文摘A bimorph piezoelectric beam with periodically variable cross-sections is used for the vibration energy harvesting. The effects of two geometrical parameters on the first band gap of this periodic beam are investigated by the generalized differential quadrature rule （GDQR） method. The GDQR method is also used to calculate the forced vibration response of the beam and voltage of each piezoelectric layer when the beam is subject to a sinusoidal base excitation. Results obtained from the analytical method are compared with those obtained from the finite element simulation with ANSYS, and good agreement is found. The voltage output of this periodic beam over its first band gap is calculated and compared with the voltage output of the uniform piezoelectric beam. It is concluded that this periodic beam has three advantages over the uniform piezoelectric beam, i.e., generating more voltage outputs over a wide frequency range, absorbing vibration, and being less weight.
基金supported by National Natural Science Foundation of China(No.50605020)Guangdong Provincial Science and Technology Project of China(No.2006A10501001).
文摘With the structure of two air gaps and two rotors, the electromagnetic continuously variable transmission（EMCVT） is a novel power-split continuously variable transmission（CVT）. There are two kinds of power flowing through the EMCVT, one is mechanical power and the other is electric power. In the mean time, there are three power ports in the EMCVT, one is the outer rotor named mechanical power port and the other two are the inner rotor and the stator named electric power ports. The mechanical power port is connected to the driving wheels through the final gear and the electric ports are connected to the batteries through the transducers. The two kinds of power are coupled on the outer rotor of the EMCVT. The EMCVT can be equipped on the conventional vehicle being regarded as the CVT and it also can be equipped on the hybrid electric vehicle（HEV） as the multi-energy sources assembly. The power flows of these two kinds of applications are analysed. The back electromotive force（EMF） equations are illatively studied and so the dynamic mathematic model is theorized. In order to certify the feasibility of the above theories, three simulations are carried out in allusion to the above two kinds of mentioned applications of the EMCVT and a five speed automatic transmission（AT） vehicle. The simulation results illustrate that the efficiency of the EMCVT vehicles is higher than that of the AT vehicle owed to the optimized operation area of the engine. Hence the fuel consumption of the EMCVT vehicles is knock-down.
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Sponsored by the National Natural Science Foundation of China (Grant No. 10832007)the Research Fund for the Doctoral Program of Higher Education of China (Grant No. 200802130003)
文摘Cavitation number and speed are capable of variation during the motion of supercavitating vehicle underwater, for example, under the condition of accelerated motion stage and external disturbance. The dynamic model and control challenge associated with the longitudinal motion of supereavitating vehicle with variable cavitation number and speed have been explored. Based on the principle of cavity expansion independence the properties of cavity and the influence on planning force of body were researched. Calculation formula of efficiency of the fin was presented. Nonlinear dynamics model of variable cavitation number and speed supercavitating vehicle was established. Stabilities of the open-loop systems of different situations were analyzed. The simulations results of open-loop systems show that it is necessary to design a control method to control a supereavitating vehicle. A gain schedule controller with guaranteed H∞ performance was designed to stabilize the dive-plane dynamics of supercavitating vehicle under changing conditions.
文摘In order to decrease the fluid drag on an underwater robot manipulator, an optimal trajectory method based on the variational method is presented. By introducing the adjoint variables, which are Lagrange multipliers, we formulate a Lagrange function under certain constraints related to the target angle, target angular velocity, and dynamic equation of the robot manipulator. The state equation (the partial differentiation of the Lagrange function with respect to the state variables), adjoint equation (the partial differentiation of the Lagrange function with respect to the adjoint variables), and sensitivity equation (the partial differentiation of the Lagrange function with respect to torques) can be derived from the stationary conditions of the Lagrange function. Using the state equation, we can calculate the state variables (angles, angular velocities, and angular acceleration) at every time step in the forward time direction. These state variables are stored as data at every time step. Next, by using the adjoint equation, we can calculate the adjoint variables by using these state variables at every time step in the backward time direction. These adjoint variables are stored as data at every time step. Third, the sensitivity equation is calculated by using both the state variables and the adjoint variables. Finally, the optimal trajectory of the manipulator is obtained using the sensitivities. The proposed method is applied to the problem of two-link manipulators. It can obtain the optimal drag reduction trajectory of the manipulator under the constraints mentioned above.
文摘At the first time,the finite element method was used to model and analyze the free vibration and transient response of non-uniform thickness bi-directional functionally graded sandwich porous(BFGSP)skew plates.The whole BFGSP skew-plates is placed on a variable visco-elastic foundation(VEF)in the hygro-thermal environment and subjected to the blast load.The BFGSP skew-plate thickness is permitted to vary non-linearly over both the length and width of the skew-plate,thereby faithfully representing the real behavior of the structure itself.The analysis is based on a four-node planar quadrilateral element with eight degrees of freedom per node,which is approximated using Lagrange Q_(4)shape function and C^(1)level non-conforming Hermite shape function based on refined higher-order shear deformation plate theory.The forced vibration parameters of the non-uniform thickness BFGSP skew-plate are fully determined using Hamilton's principle and the Newmark-βdirect integration technique.Accuracy of the calculation program is validated by comparing its numerical results with those from reputable sources.Furthermore,a thorough assessment is conducted to determine the impact of various parameters on the free and forced vibration responses of the non-uniform thickness BFGSP skew-plate.The findings of the paper may be used in the development of civil and military structures in situations that are prone to exceptional forces,such as explosions and impacts load.
文摘The dynamics of a solid spherical body in an oscillating liquid flow in a vertical axisymmetric channel of variable cross section is experimentally studied.It is shown that the oscillating liquid leads to the generation of intense averaged flows in each of the channel segments.The intensity and direction of these flows depend on the dimensionless oscillating frequency.In the region of studied frequencies,the dynamics of the considered body is examined when the primary vortices emerging in the flow occupy the whole region in each segment.For a fixed frequency,an increase in the oscillation amplitude leads to a phase-inclusion holding effect,i.e.,the body occupies a quasi-stationary position in one of the cells of the vertical channel,while oscillating around its average position.It is also shown that the oscillating motion of a liquid column generates an averaged force acting on the body,the magnitude of which depends on the properties of the body and its position in the channel.The quasi-stationary position is determined by the relative density and size of the body,as well as the dimensionless frequency.The behavior of the body as a function of the amplitude and frequency of fluid oscillation and relative size is discussed in detail.Such findings may be used in the future to control the position of a phase inclusion and/or to strengthen mass transfer effects in a channel of variable cross section by means of fluid oscillations.
