Projective synchronization problems of a drive system and a particular response network were investigated,where the drive system is an arbitrary system with n+1 dimensions;it may be a linear or nonlinear system,and ev...Projective synchronization problems of a drive system and a particular response network were investigated,where the drive system is an arbitrary system with n+1 dimensions;it may be a linear or nonlinear system,and even a chaotic or hyperchaotic system,the response network is complex system coupled by N nodes,and every node is showed by the approximately linear part of the drive system.Only controlling any one node of the response network by designed controller can achieve the projective synchronization.Some numerical examples were employed to verify the effectiveness and correctness of the designed controller.展开更多
The worm wheel whose undercutting characteristic is researched is a member of offsetting normal arc-toothed cylindrical worm drive.The tooth profile of the worm in its offsetting normal section is a circular arc.The n...The worm wheel whose undercutting characteristic is researched is a member of offsetting normal arc-toothed cylindrical worm drive.The tooth profile of the worm in its offsetting normal section is a circular arc.The normal vector used to calculate the first-type limit function is determined in the natural frame without the aid of the curvature parameter of worm helicoid.The first-type limit line is ascertained via solving the nonlinear equations iteratively.It is discovered that one first-type limit line exists on the tooth surface of worm wheel by numerical simulation,and such a line is normally located out of the meshing zone.Only one intersection point exists between the first and second-types of limit lines,and this point is a lubrication weak point.The undercutting mechanism is essentially that a part of the meshing zone near the conjugated line of worm tooth crest will come into the undercutting area and will be cut off during machining the worm wheel.The machining simulation verifies the correctness of undercutting mechanism.Moreover,a convenient and practical characteristic quantity is proposed to judge whether the undercutting exists in the whole meshing zone via computing the first-type limit function values on the worm tooth crest.展开更多
A three-DOF (degree of freedom) planar robot completely restrained and positioned parallel pulled by four wires was studied. The wire driving properties were analyzed through experiments. The restrained three-DOF plan...A three-DOF (degree of freedom) planar robot completely restrained and positioned parallel pulled by four wires was studied. The wire driving properties were analyzed through experiments. The restrained three-DOF planar platform was established based on slippery course and bearing, and dSPACE real-time control system was used to perform the platform's motion control experiment on robot. Based on the kinematic equation and mechanical balance equation of moving platform, the stiffness of the robot system was analyzed and the calibration scheme of the system considering wire tension was put forward. Position servo control experiments were carried out, position servo tracking precision was analyzed, and real-time wire tension was detected. The results show that the moving error of the moving platform tracking is small (the maximum difference is about 3%), and the rotation error is large (the maximum difference is about 12%). The wire tension has wave properties (the wire tension fluctuation is about 10 N).展开更多
The design of servo controllers for flexible ball screw drives with matched and mismatched disturbances and uncertainties is focused to improve the tracking performance and bandwidth of ball screw drives.A two degrees...The design of servo controllers for flexible ball screw drives with matched and mismatched disturbances and uncertainties is focused to improve the tracking performance and bandwidth of ball screw drives.A two degrees of freedom mass model is established based on the axial vibration characteristics of the transport ball screw,and the controller of an adaptive integral sliding mode is proposed combining the optimal design of state feedback gain matrix K to restrain the vibration and the matched disturbances and uncertainties.Then for the counteraction of the mismatched disturbances and uncertainties,a nonlinear disturbance observer is also developed.The trajectory tracking performance experiments and bandwidth analysis were conducted on experimental setup with the proposed control method.It is proved that the adaptive integral sliding mode controller has a high tracking performance and bandwidth especially for the axial vibration characteristics model of ball screw drives.And the ball screw tracking accuracy also has a considerable improvement with the application of the proposed nonlinear disturbance observer.展开更多
The effects of different habits of the drivers on gear shifting strategies for manual powertrain were investigated. For the realization of simulation, the shifting habits of the drivers were conducted in the Advisor s...The effects of different habits of the drivers on gear shifting strategies for manual powertrain were investigated. For the realization of simulation, the shifting habits of the drivers were conducted in the Advisor software to investigate and compare the emission rates. Simulation was developed based on the optimal gear shifting strategy and criteria and was validated both in fuel economy and emissions by analyzing the results in the various driving cycle and driving styles. To explore an optimal gear shifting strategy with best fuel economy and lowest emission for a manual transmission, a strategy was designed with a highest possible gear criterion as long as the torque requirement can be satisfied. Based on two different criteria, namely the engine working conditions and the driver's intention, the governing parameters in decision making for gear shifting of manual transmission in conventional engine were discussed. It is also shown that the optimum gear shifting strategy is based on that both the engine state and the driver's intention eliminates unnecessary shiftings that are present when the intention is overlooked. The optimum shifting habit and the best driving cycle in terms of minimum emissions and fuel consumption were proposed.展开更多
The flow between a grooved and a flat plate was presented to investigate the effects of groove on the behavior of hydro-viscous drive. The flow was solved by using computational fluid dynamics (CFD) code, Fluent. Para...The flow between a grooved and a flat plate was presented to investigate the effects of groove on the behavior of hydro-viscous drive. The flow was solved by using computational fluid dynamics (CFD) code, Fluent. Parameters related to the flow, such as velocity, pressure, temperature, axial force and viscous torque, are obtained. The results show that pressure at the upstream notch is negative, pressure at the downstream notch is positive and pressure along the film thickness is almost the same. Dynamic pressure peak decreases as groove depth or groove number increases, but increases as output rotary speed increases. Consequently, the groove depth is suggested to be around 0.4 mm. Both the groove itself and groove parameters (i.e. groove depth, groove number) have little effect on the flow temperature. Circumferential pressure gradient induced by the groove weakens the viscous torque on the grooved plate (driven plate) greatly. It has little change as the groove depth increases. However, it decreases dramatically as the groove number increases. The experiment results show that the trend of experimental temperature and pressure are the same with numerical results. And the output rotary speed also has relationship with input flow rate and flow temperature.展开更多
In the applications of joint control and robot movement,the joint torque estimation has been treated as an effective technique and widely used.Researches are made to analyze the kinematic and compliance model of the r...In the applications of joint control and robot movement,the joint torque estimation has been treated as an effective technique and widely used.Researches are made to analyze the kinematic and compliance model of the robot joint with harmonic drive to acquire high precision torque output.Through analyzing the structures of the harmonic drive and experiment apparatus,a scheme of the proposed joint torque estimation method based on both the dynamic characteristics and unscented Kalman filter(UKF)is designed and built.Based on research and scheme,torque estimation methods in view of only harmonic drive compliance model and compliance model with the Kalman filter are simulated as guidance and reference to promote the research on the torque estimation technique.Finally,a promoted torque estimation method depending on both harmonic drive compliance model and UKF is designed,and simulation results compared with the measurements of a commercial torque sensor,have verified the effectiveness of the proposed method.展开更多
In order to ensure that the system has the advantage of light weight and vibration absorption, the steel rope is used as a flexible transmission part. A flexible drive unit(FDU) is developed, whose features are guided...In order to ensure that the system has the advantage of light weight and vibration absorption, the steel rope is used as a flexible transmission part. A flexible drive unit(FDU) is developed, whose features are guided by steel rope, increasing force by the movable pulley group, modular, convenient and flexible. Dynamics model for controller is deduced based on the constitutive equation of viscoelasticity. Controller is designed for position control and is based on the viscoelasticity dynamics model compensation control strategy proposed. The control system is based on the TURBO PMAC multi-axis motion control card.Prototype loading experiments and velocity experiments results show that the FDU can reach 2 Hz with no load and the max speed of 30(°)/s. The FDU has the capability of the load torque 11.2 N·m and the speed of 24(°)/s simultaneously, and the frequency response is 1.3 Hz. The FDU can be used to be the pitch joint of hip for biped robot whose walking speed is 0.144 km/h theoretically.展开更多
Based on electromagnetics and mechanics, electromechanical coupled dynamic equations for the drive were developed. Using method of perturbation, free vibrations of the mechanical system under electric disturbance were...Based on electromagnetics and mechanics, electromechanical coupled dynamic equations for the drive were developed. Using method of perturbation, free vibrations of the mechanical system under electric disturbance were investigated. The forced responses of the mechanical system to mechanical excitation under electric disturbance were also presented. It is known that for the system with electric disturbance, as time grows, beat occurs. When electric disturbing frequency is near to the natural frequencies of the mechanical system or their integer multiple, resonance vibrations occur. The forced responses of the mechanical system to mechanical excitation under electric disturbance are compound vibrations decided by mechanical excitation, electric disturbance and parameters of the system. The coupled resonance vibration caused by electric disturbance and mechanical excitation was discussed as well. The conditions under which above coupled resonance occurs were presented. The results show that when the difference of the excitation frequency and the perturbation frequency is equal to some order of natural frequency, coupled resonance vibrations occur.展开更多
Laptop personal computers(LPCs) and their components are vulnerable devices in harsh mechanical environments. One of the most sensitive components of LPCs is hard disk drive(HDD) which needs to be protected against da...Laptop personal computers(LPCs) and their components are vulnerable devices in harsh mechanical environments. One of the most sensitive components of LPCs is hard disk drive(HDD) which needs to be protected against damages attributable to shock and vibration in order to have better magnetic read/write performance. In the present work, a LPC and its HDD are modeled as two degrees of freedom system and the nonlinear optimization method is employed to perform a passive control through minimizing peak of HDD absolute acceleration caused by a base shock excitation. The presented shock excitation is considered as half-sine pulse of acceleration. In addition, eleven inequality constraints are defined based on geometrical limitations and allowable intervals of lumped modal parameters. The target of the optimization is to reach optimum modal parameters of rubber mounts and rubber feet as design variables and subsequently propose new characteristics of rubber mounts and rubber feet to be manufactured for the HDD protection against shock excitation. The genetic algorithm and the modified constrained steepest descent algorithm are employed in order to solve the nonlinear optimization problem for three widely-used commercial cases of HDD. Finally, the results of both optimization methods are compared to make sure about their accuracy.展开更多
A kind of single impulse welding drive axle used in a truck was selected as research object.The dynamic characteristic simulation of the drive axle was analyzed through building the vehicle dynamics simulation model i...A kind of single impulse welding drive axle used in a truck was selected as research object.The dynamic characteristic simulation of the drive axle was analyzed through building the vehicle dynamics simulation model in virtual software.Comparison between different speeds and different roads were made to get the corresponding dynamics of drive axle.展开更多
In many cases, the cutting method is usually adopted for the efficient machining of non-circular body of revolution and a feed drive is needed to actuate the cutting tool to and fro according to input signal wave. The...In many cases, the cutting method is usually adopted for the efficient machining of non-circular body of revolution and a feed drive is needed to actuate the cutting tool to and fro according to input signal wave. The feed drive for the purpose is required of fast response and accurate positioning. Both of these are highly dependent upon the actuating elements. Several schemes of actuation are specially interested. One is the introduction of piezoelectric actuation. However, the tiny working stroke of the piezoelectric material limits its application to a narrow range. Another is the application of electro-magnetic actuator. An innovative feed drive actuated by the stepper motor is introduced for the purpose. For a conventional step operating mode, a stepper motor can only be controlled to position at finite discrete points. Thus, when it is applied as an actuator of the feed drive, it is very difficult to maintain high accuracy and fast response. To eliminate quantitative error, the stepper motor is controlled under the continual mode. It is achieved with a micro-controller system and a built-in control algorithm program, called "tracking algorithm". Within each sampling cycle, the micro-controller will sample the input signal and the time interval will be divided into two parts according to the relative position between two adjacent stepping points. The phase coils correspondent to the two adjacent stepping points are energized respectively with calculated time duration. In the way, the motion of the tool frame smoothly tracks the input signal. This paper presents modeling and identification of frequency response of the proposed drive. The dynamic response of the feed drive is manly decided by the natural frequency of the stepper motor. For the conventional small-size stepper motors, the natural frequency is within the range 200～400 Hz. Experimental results show that the stepper motor actuated tool frame can smoothly keep in track of the input signal wave under "tracking control". The bandwidth of frequency of the feed drive exceeds 310 Hz.展开更多
基金Supported by the National Natural Science Foundation of China (11161027)。
文摘Projective synchronization problems of a drive system and a particular response network were investigated,where the drive system is an arbitrary system with n+1 dimensions;it may be a linear or nonlinear system,and even a chaotic or hyperchaotic system,the response network is complex system coupled by N nodes,and every node is showed by the approximately linear part of the drive system.Only controlling any one node of the response network by designed controller can achieve the projective synchronization.Some numerical examples were employed to verify the effectiveness and correctness of the designed controller.
基金Projects(52205069,52075083,52304049)supported by the National Natural Science Foundation of ChinaProject(2021-BS-164)supported by the Liaoning Province Doctoral Research Startup Fund,China+2 种基金Project(LJKZ0264)supported by the Science and Technology Research Projects of Education Department of Liaoning Province,ChinaProject(G2022003010L)supported by the High-end Foreign Experts Recruitment Plan of ChinaProject(E2021203095)supported by the Natural Science Foundation for Young Scholars of Hebei Province,China。
文摘The worm wheel whose undercutting characteristic is researched is a member of offsetting normal arc-toothed cylindrical worm drive.The tooth profile of the worm in its offsetting normal section is a circular arc.The normal vector used to calculate the first-type limit function is determined in the natural frame without the aid of the curvature parameter of worm helicoid.The first-type limit line is ascertained via solving the nonlinear equations iteratively.It is discovered that one first-type limit line exists on the tooth surface of worm wheel by numerical simulation,and such a line is normally located out of the meshing zone.Only one intersection point exists between the first and second-types of limit lines,and this point is a lubrication weak point.The undercutting mechanism is essentially that a part of the meshing zone near the conjugated line of worm tooth crest will come into the undercutting area and will be cut off during machining the worm wheel.The machining simulation verifies the correctness of undercutting mechanism.Moreover,a convenient and practical characteristic quantity is proposed to judge whether the undercutting exists in the whole meshing zone via computing the first-type limit function values on the worm tooth crest.
基金Project(20102304120007) supported by the Research Fund for the Doctoral Program of Higher Education of ChinaProject(QC2010009)supported by the Natural Science Foundation of Heilongjiang Province, China+1 种基金Projects(20110491030, LBH-Z10219) supported by China Postdoctoral Science FoundationProject(HEUCF120706) supported by the Fundamental Research Funds for the Central Universities of China
文摘A three-DOF (degree of freedom) planar robot completely restrained and positioned parallel pulled by four wires was studied. The wire driving properties were analyzed through experiments. The restrained three-DOF planar platform was established based on slippery course and bearing, and dSPACE real-time control system was used to perform the platform's motion control experiment on robot. Based on the kinematic equation and mechanical balance equation of moving platform, the stiffness of the robot system was analyzed and the calibration scheme of the system considering wire tension was put forward. Position servo control experiments were carried out, position servo tracking precision was analyzed, and real-time wire tension was detected. The results show that the moving error of the moving platform tracking is small (the maximum difference is about 3%), and the rotation error is large (the maximum difference is about 12%). The wire tension has wave properties (the wire tension fluctuation is about 10 N).
基金Project(2013ZX04008011)supported by the National Science and Technology Major Projects of ChinaProject(51675100)supported by the National Natural Science Foundation of China
文摘The design of servo controllers for flexible ball screw drives with matched and mismatched disturbances and uncertainties is focused to improve the tracking performance and bandwidth of ball screw drives.A two degrees of freedom mass model is established based on the axial vibration characteristics of the transport ball screw,and the controller of an adaptive integral sliding mode is proposed combining the optimal design of state feedback gain matrix K to restrain the vibration and the matched disturbances and uncertainties.Then for the counteraction of the mismatched disturbances and uncertainties,a nonlinear disturbance observer is also developed.The trajectory tracking performance experiments and bandwidth analysis were conducted on experimental setup with the proposed control method.It is proved that the adaptive integral sliding mode controller has a high tracking performance and bandwidth especially for the axial vibration characteristics model of ball screw drives.And the ball screw tracking accuracy also has a considerable improvement with the application of the proposed nonlinear disturbance observer.
文摘The effects of different habits of the drivers on gear shifting strategies for manual powertrain were investigated. For the realization of simulation, the shifting habits of the drivers were conducted in the Advisor software to investigate and compare the emission rates. Simulation was developed based on the optimal gear shifting strategy and criteria and was validated both in fuel economy and emissions by analyzing the results in the various driving cycle and driving styles. To explore an optimal gear shifting strategy with best fuel economy and lowest emission for a manual transmission, a strategy was designed with a highest possible gear criterion as long as the torque requirement can be satisfied. Based on two different criteria, namely the engine working conditions and the driver's intention, the governing parameters in decision making for gear shifting of manual transmission in conventional engine were discussed. It is also shown that the optimum gear shifting strategy is based on that both the engine state and the driver's intention eliminates unnecessary shiftings that are present when the intention is overlooked. The optimum shifting habit and the best driving cycle in terms of minimum emissions and fuel consumption were proposed.
基金Project(50475106)supported by the National Natural Science Foundation of China
文摘The flow between a grooved and a flat plate was presented to investigate the effects of groove on the behavior of hydro-viscous drive. The flow was solved by using computational fluid dynamics (CFD) code, Fluent. Parameters related to the flow, such as velocity, pressure, temperature, axial force and viscous torque, are obtained. The results show that pressure at the upstream notch is negative, pressure at the downstream notch is positive and pressure along the film thickness is almost the same. Dynamic pressure peak decreases as groove depth or groove number increases, but increases as output rotary speed increases. Consequently, the groove depth is suggested to be around 0.4 mm. Both the groove itself and groove parameters (i.e. groove depth, groove number) have little effect on the flow temperature. Circumferential pressure gradient induced by the groove weakens the viscous torque on the grooved plate (driven plate) greatly. It has little change as the groove depth increases. However, it decreases dramatically as the groove number increases. The experiment results show that the trend of experimental temperature and pressure are the same with numerical results. And the output rotary speed also has relationship with input flow rate and flow temperature.
基金supported by the National Natural Science Foundation of China(51879055)。
文摘In the applications of joint control and robot movement,the joint torque estimation has been treated as an effective technique and widely used.Researches are made to analyze the kinematic and compliance model of the robot joint with harmonic drive to acquire high precision torque output.Through analyzing the structures of the harmonic drive and experiment apparatus,a scheme of the proposed joint torque estimation method based on both the dynamic characteristics and unscented Kalman filter(UKF)is designed and built.Based on research and scheme,torque estimation methods in view of only harmonic drive compliance model and compliance model with the Kalman filter are simulated as guidance and reference to promote the research on the torque estimation technique.Finally,a promoted torque estimation method depending on both harmonic drive compliance model and UKF is designed,and simulation results compared with the measurements of a commercial torque sensor,have verified the effectiveness of the proposed method.
基金Project(2006AA04Z201,2012AA041601)supported by the National High-Tech Research and Development Program of China
文摘In order to ensure that the system has the advantage of light weight and vibration absorption, the steel rope is used as a flexible transmission part. A flexible drive unit(FDU) is developed, whose features are guided by steel rope, increasing force by the movable pulley group, modular, convenient and flexible. Dynamics model for controller is deduced based on the constitutive equation of viscoelasticity. Controller is designed for position control and is based on the viscoelasticity dynamics model compensation control strategy proposed. The control system is based on the TURBO PMAC multi-axis motion control card.Prototype loading experiments and velocity experiments results show that the FDU can reach 2 Hz with no load and the max speed of 30(°)/s. The FDU has the capability of the load torque 11.2 N·m and the speed of 24(°)/s simultaneously, and the frequency response is 1.3 Hz. The FDU can be used to be the pitch joint of hip for biped robot whose walking speed is 0.144 km/h theoretically.
基金Project(51075350)supported by the National Natural Science Foundation of China
文摘Based on electromagnetics and mechanics, electromechanical coupled dynamic equations for the drive were developed. Using method of perturbation, free vibrations of the mechanical system under electric disturbance were investigated. The forced responses of the mechanical system to mechanical excitation under electric disturbance were also presented. It is known that for the system with electric disturbance, as time grows, beat occurs. When electric disturbing frequency is near to the natural frequencies of the mechanical system or their integer multiple, resonance vibrations occur. The forced responses of the mechanical system to mechanical excitation under electric disturbance are compound vibrations decided by mechanical excitation, electric disturbance and parameters of the system. The coupled resonance vibration caused by electric disturbance and mechanical excitation was discussed as well. The conditions under which above coupled resonance occurs were presented. The results show that when the difference of the excitation frequency and the perturbation frequency is equal to some order of natural frequency, coupled resonance vibrations occur.
文摘Laptop personal computers(LPCs) and their components are vulnerable devices in harsh mechanical environments. One of the most sensitive components of LPCs is hard disk drive(HDD) which needs to be protected against damages attributable to shock and vibration in order to have better magnetic read/write performance. In the present work, a LPC and its HDD are modeled as two degrees of freedom system and the nonlinear optimization method is employed to perform a passive control through minimizing peak of HDD absolute acceleration caused by a base shock excitation. The presented shock excitation is considered as half-sine pulse of acceleration. In addition, eleven inequality constraints are defined based on geometrical limitations and allowable intervals of lumped modal parameters. The target of the optimization is to reach optimum modal parameters of rubber mounts and rubber feet as design variables and subsequently propose new characteristics of rubber mounts and rubber feet to be manufactured for the HDD protection against shock excitation. The genetic algorithm and the modified constrained steepest descent algorithm are employed in order to solve the nonlinear optimization problem for three widely-used commercial cases of HDD. Finally, the results of both optimization methods are compared to make sure about their accuracy.
文摘A kind of single impulse welding drive axle used in a truck was selected as research object.The dynamic characteristic simulation of the drive axle was analyzed through building the vehicle dynamics simulation model in virtual software.Comparison between different speeds and different roads were made to get the corresponding dynamics of drive axle.
文摘In many cases, the cutting method is usually adopted for the efficient machining of non-circular body of revolution and a feed drive is needed to actuate the cutting tool to and fro according to input signal wave. The feed drive for the purpose is required of fast response and accurate positioning. Both of these are highly dependent upon the actuating elements. Several schemes of actuation are specially interested. One is the introduction of piezoelectric actuation. However, the tiny working stroke of the piezoelectric material limits its application to a narrow range. Another is the application of electro-magnetic actuator. An innovative feed drive actuated by the stepper motor is introduced for the purpose. For a conventional step operating mode, a stepper motor can only be controlled to position at finite discrete points. Thus, when it is applied as an actuator of the feed drive, it is very difficult to maintain high accuracy and fast response. To eliminate quantitative error, the stepper motor is controlled under the continual mode. It is achieved with a micro-controller system and a built-in control algorithm program, called "tracking algorithm". Within each sampling cycle, the micro-controller will sample the input signal and the time interval will be divided into two parts according to the relative position between two adjacent stepping points. The phase coils correspondent to the two adjacent stepping points are energized respectively with calculated time duration. In the way, the motion of the tool frame smoothly tracks the input signal. This paper presents modeling and identification of frequency response of the proposed drive. The dynamic response of the feed drive is manly decided by the natural frequency of the stepper motor. For the conventional small-size stepper motors, the natural frequency is within the range 200～400 Hz. Experimental results show that the stepper motor actuated tool frame can smoothly keep in track of the input signal wave under "tracking control". The bandwidth of frequency of the feed drive exceeds 310 Hz.
