In order to present a new method for analyzing the reliability of a two-link flexible robot manipulator,Lagrange dynamics differential equations of the two-link flexible robot manipulator were established by using the...In order to present a new method for analyzing the reliability of a two-link flexible robot manipulator,Lagrange dynamics differential equations of the two-link flexible robot manipulator were established by using the integrated modal method and the multi-body system dynamics method.By using the Monte Carlo method,the random sample values of the dynamic parameters were obtained and Lagrange dynamics differential equations were solved for each random sample value which revealed their displacement,speed and acceleration.On this basis,dynamic stresses and deformations were obtained.By taking the maximum values of the stresses and the deformations as output responses and the random sample values of dynamic parameters as input quantities,extremum response surface functions were established.A number of random samples were then obtained by using the Monte Carlo method and then the reliability was analyzed by using the extremum response surface method.The results show that the extremum response surface method is an efficient and fast reliability analysis method with high-accuracy for the two-link flexible robot manipulator.展开更多
To improve the computational efficiency of the reliability-based design optimization(RBDO) of flexible mechanism, particle swarm optimization-advanced extremum response surface method(PSO-AERSM) was proposed by integr...To improve the computational efficiency of the reliability-based design optimization(RBDO) of flexible mechanism, particle swarm optimization-advanced extremum response surface method(PSO-AERSM) was proposed by integrating particle swarm optimization(PSO) algorithm and advanced extremum response surface method(AERSM). Firstly, the AERSM was developed and its mathematical model was established based on artificial neural network, and the PSO algorithm was investigated. And then the RBDO model of flexible mechanism was presented based on AERSM and PSO. Finally, regarding cross-sectional area as design variable, the reliability optimization of flexible mechanism was implemented subject to reliability degree and uncertainties based on the proposed approach. The optimization results show that the cross-section sizes obviously reduce by 22.96 mm^2 while keeping reliability degree. Through the comparison of methods, it is demonstrated that the AERSM holds high computational efficiency while keeping computational precision for the RBDO of flexible mechanism, and PSO algorithm minimizes the response of the objective function. The efforts of this work provide a useful sight for the reliability optimization of flexible mechanism, and enrich and develop the reliability theory as well.展开更多
The resistance loss of transportation was studied and the influences of buoyancy layout,mineral content and elastic modulus of flexible hose were investigated based on three-dimensional finite element model of fluid-s...The resistance loss of transportation was studied and the influences of buoyancy layout,mineral content and elastic modulus of flexible hose were investigated based on three-dimensional finite element model of fluid-solid interaction by MSC.MARC/MENTAT software.The numerical results show that the resistance losses increase with the increase of mineral content Cv and velocity of internal fluid v and decrease with the increase of elastic modulus E of flexible hose.The buoyancy layout and the velocity of internal fluid have greater impacts on the resistance losses than the elastic modulus of flexible hose.In order to reduce the resistance losses and improve the efficiency of the deep-ocean mining,Cv and v must be restricted in a suitable range (e.g.10%-25% and 2.5-4 m/s).Effective buoyancy layout (such as Scheme C and D) should be adopted and the suitable material of moderate E should be used for the flexible hose in deep-ocean mining.展开更多
A dynamics formula was established for the flexible cage of high-speed angular contact ball bearing. A modified Craig-Bampton component mode synthetic method was used to establish the formula with regard to the flexib...A dynamics formula was established for the flexible cage of high-speed angular contact ball bearing. A modified Craig-Bampton component mode synthetic method was used to establish the formula with regard to the flexibility of cage and based on a dynamic analysis of angular contact ball bearing,and a rigid-flexible multi-body dynamic analysis program was developed using ADAMS,which is verified by a computation example of Gupta. The results show that it's not likely to keep the rotation smoothness of cage when the ratio of pocket clearance to guiding clearance and the ratio of radial load to axial load become too large or too small. By comparison,the flexible cage runs more smoothly than the rigid cage.展开更多
A kinetic model of the rigid and flexible coupling system for terminally sensitive submunition is set up with Kane's method. The parachute is considered as a flexible body, the flexible displacement is expressed w...A kinetic model of the rigid and flexible coupling system for terminally sensitive submunition is set up with Kane's method. The parachute is considered as a flexible body, the flexible displacement is expressed with modal spread method, the position of the parachute is expressed with a hybrid coordinate method, and the kinematics of the terminally sensitive submunition is analyzed. Ten generalized coordinates relative to the attitude of the terminally sensitive submunition are chosen, and the correlative generalized active forces, the generalized inertial forces, the generalized internal forces are calculated in turn. On the base of the Kane's method, the ten degrees of freedom dynamic equations for the coupled terminally sensitive submunition are finally set up. This model can be used to expediently simulate and analyze accurately the exterior ballistic trajectory of terminally sensitive submunition, and provide the overall design of the terminally sensitive submunition with some helpful references.展开更多
氢电混动汽车(fuel-cell hybrid electric vehicles,FCHEV)的出现有效促进了能源-交通系统的绿色低碳转型。现阶段关于FCHEV的研究主要集中在能量管理和控制策略上,较少关注灵活性潜力评估方面,为此,提出了一种计及车主充能意愿差异性的...氢电混动汽车(fuel-cell hybrid electric vehicles,FCHEV)的出现有效促进了能源-交通系统的绿色低碳转型。现阶段关于FCHEV的研究主要集中在能量管理和控制策略上,较少关注灵活性潜力评估方面,为此,提出了一种计及车主充能意愿差异性的FCHEV集群灵活性潜力评估方法。首先,建立城市交通路网模型模拟FCHEV的出行特征,进而建立单体FCHEV充能模型;其次,利用改进层次分析法并结合熵权法建立车主充能意愿综合评价体系,并综合考虑禀赋效应和环保意识对车主响应意愿度的影响;最后,建立FCHEV集群灵活性潜力评估模型,求解得出潜力评估结果。仿真结果表明,所提方法在评估过程中能够合理刻画车主充能意愿的差异性,并有效提高集群参与优化调度时系统的灵活性。展开更多
HL-RF(Hasofer-Lind and Rackwitz-Fiessler)法在处理高非线性结构功能函数时会出现振荡、不收敛的问题。可变容差法能够有效解决上述问题,但该方法的反射点选取缺乏方向引导性。针对此,该论文提出基于权重分析改进反射基点的可变容差...HL-RF(Hasofer-Lind and Rackwitz-Fiessler)法在处理高非线性结构功能函数时会出现振荡、不收敛的问题。可变容差法能够有效解决上述问题,但该方法的反射点选取缺乏方向引导性。针对此,该论文提出基于权重分析改进反射基点的可变容差法。该方法先计算非最差点到标准正态空间原点的距离,并增大距离原点更近的点的权重,由此增强反射基点的方向引导性,促使迭代点能更快靠近失效点。通过数值算例验证,本研究提出的方法能够有效解决反射点缺乏方向引导性问题,并且在求解速度上具有显著优势。展开更多
为了应对海量分布式资源分层分布接入柔性配电网给无功优化引入的不确定性,提出了基于概率场景驱动的柔性配电网分布式无功优化方法。首先,以最小化系统损耗为目标建立了柔性配电网无功优化模型,其次,综合考虑1-范数和∞-范数的置信约束...为了应对海量分布式资源分层分布接入柔性配电网给无功优化引入的不确定性,提出了基于概率场景驱动的柔性配电网分布式无功优化方法。首先,以最小化系统损耗为目标建立了柔性配电网无功优化模型,其次,综合考虑1-范数和∞-范数的置信约束,构建基于概率场景模糊集的柔性配电网分布鲁棒无功优化模型。在此基础上,以分布式优化模型为外部框架,采用一致性加速梯度交替方向乘子法(alternating direction method of multipliers,ADMM)进行全局协调与更新迭代求解,以各子区域分布鲁棒优化模型为内部框架,采用列与约束生成(column and constraint generation,CCG)算法求解。基于改进的IEEE-33节点系统的算例仿真结果表明,所提出的柔性配电网分布式无功优化方法具有较好的收敛性,兼顾了经济性和鲁棒性的平衡。展开更多
基金Project(2006AA04Z405)supported by the National High Technology Research and Development Program of ChinaProject(3102019)supported by Beijing Municipal Natural Science Foundation,China
文摘In order to present a new method for analyzing the reliability of a two-link flexible robot manipulator,Lagrange dynamics differential equations of the two-link flexible robot manipulator were established by using the integrated modal method and the multi-body system dynamics method.By using the Monte Carlo method,the random sample values of the dynamic parameters were obtained and Lagrange dynamics differential equations were solved for each random sample value which revealed their displacement,speed and acceleration.On this basis,dynamic stresses and deformations were obtained.By taking the maximum values of the stresses and the deformations as output responses and the random sample values of dynamic parameters as input quantities,extremum response surface functions were established.A number of random samples were then obtained by using the Monte Carlo method and then the reliability was analyzed by using the extremum response surface method.The results show that the extremum response surface method is an efficient and fast reliability analysis method with high-accuracy for the two-link flexible robot manipulator.
基金Projects(51275138,51475025)supported by the National Natural Science Foundation of ChinaProject(12531109)supported by the Science Foundation of Heilongjiang Provincial Department of Education,China+1 种基金Projects(XJ2015002,G-YZ90)supported by Hong Kong Scholars Program,ChinaProject(2015M580037)supported by Postdoctoral Science Foundation of China
文摘To improve the computational efficiency of the reliability-based design optimization(RBDO) of flexible mechanism, particle swarm optimization-advanced extremum response surface method(PSO-AERSM) was proposed by integrating particle swarm optimization(PSO) algorithm and advanced extremum response surface method(AERSM). Firstly, the AERSM was developed and its mathematical model was established based on artificial neural network, and the PSO algorithm was investigated. And then the RBDO model of flexible mechanism was presented based on AERSM and PSO. Finally, regarding cross-sectional area as design variable, the reliability optimization of flexible mechanism was implemented subject to reliability degree and uncertainties based on the proposed approach. The optimization results show that the cross-section sizes obviously reduce by 22.96 mm^2 while keeping reliability degree. Through the comparison of methods, it is demonstrated that the AERSM holds high computational efficiency while keeping computational precision for the RBDO of flexible mechanism, and PSO algorithm minimizes the response of the objective function. The efforts of this work provide a useful sight for the reliability optimization of flexible mechanism, and enrich and develop the reliability theory as well.
基金Project(2006AA09Z240)supported by the National High Technology Research and Development Program of China
文摘The resistance loss of transportation was studied and the influences of buoyancy layout,mineral content and elastic modulus of flexible hose were investigated based on three-dimensional finite element model of fluid-solid interaction by MSC.MARC/MENTAT software.The numerical results show that the resistance losses increase with the increase of mineral content Cv and velocity of internal fluid v and decrease with the increase of elastic modulus E of flexible hose.The buoyancy layout and the velocity of internal fluid have greater impacts on the resistance losses than the elastic modulus of flexible hose.In order to reduce the resistance losses and improve the efficiency of the deep-ocean mining,Cv and v must be restricted in a suitable range (e.g.10%-25% and 2.5-4 m/s).Effective buoyancy layout (such as Scheme C and D) should be adopted and the suitable material of moderate E should be used for the flexible hose in deep-ocean mining.
文摘A dynamics formula was established for the flexible cage of high-speed angular contact ball bearing. A modified Craig-Bampton component mode synthetic method was used to establish the formula with regard to the flexibility of cage and based on a dynamic analysis of angular contact ball bearing,and a rigid-flexible multi-body dynamic analysis program was developed using ADAMS,which is verified by a computation example of Gupta. The results show that it's not likely to keep the rotation smoothness of cage when the ratio of pocket clearance to guiding clearance and the ratio of radial load to axial load become too large or too small. By comparison,the flexible cage runs more smoothly than the rigid cage.
文摘A kinetic model of the rigid and flexible coupling system for terminally sensitive submunition is set up with Kane's method. The parachute is considered as a flexible body, the flexible displacement is expressed with modal spread method, the position of the parachute is expressed with a hybrid coordinate method, and the kinematics of the terminally sensitive submunition is analyzed. Ten generalized coordinates relative to the attitude of the terminally sensitive submunition are chosen, and the correlative generalized active forces, the generalized inertial forces, the generalized internal forces are calculated in turn. On the base of the Kane's method, the ten degrees of freedom dynamic equations for the coupled terminally sensitive submunition are finally set up. This model can be used to expediently simulate and analyze accurately the exterior ballistic trajectory of terminally sensitive submunition, and provide the overall design of the terminally sensitive submunition with some helpful references.
文摘氢电混动汽车(fuel-cell hybrid electric vehicles,FCHEV)的出现有效促进了能源-交通系统的绿色低碳转型。现阶段关于FCHEV的研究主要集中在能量管理和控制策略上,较少关注灵活性潜力评估方面,为此,提出了一种计及车主充能意愿差异性的FCHEV集群灵活性潜力评估方法。首先,建立城市交通路网模型模拟FCHEV的出行特征,进而建立单体FCHEV充能模型;其次,利用改进层次分析法并结合熵权法建立车主充能意愿综合评价体系,并综合考虑禀赋效应和环保意识对车主响应意愿度的影响;最后,建立FCHEV集群灵活性潜力评估模型,求解得出潜力评估结果。仿真结果表明,所提方法在评估过程中能够合理刻画车主充能意愿的差异性,并有效提高集群参与优化调度时系统的灵活性。
文摘HL-RF(Hasofer-Lind and Rackwitz-Fiessler)法在处理高非线性结构功能函数时会出现振荡、不收敛的问题。可变容差法能够有效解决上述问题,但该方法的反射点选取缺乏方向引导性。针对此,该论文提出基于权重分析改进反射基点的可变容差法。该方法先计算非最差点到标准正态空间原点的距离,并增大距离原点更近的点的权重,由此增强反射基点的方向引导性,促使迭代点能更快靠近失效点。通过数值算例验证,本研究提出的方法能够有效解决反射点缺乏方向引导性问题,并且在求解速度上具有显著优势。
文摘为了应对海量分布式资源分层分布接入柔性配电网给无功优化引入的不确定性,提出了基于概率场景驱动的柔性配电网分布式无功优化方法。首先,以最小化系统损耗为目标建立了柔性配电网无功优化模型,其次,综合考虑1-范数和∞-范数的置信约束,构建基于概率场景模糊集的柔性配电网分布鲁棒无功优化模型。在此基础上,以分布式优化模型为外部框架,采用一致性加速梯度交替方向乘子法(alternating direction method of multipliers,ADMM)进行全局协调与更新迭代求解,以各子区域分布鲁棒优化模型为内部框架,采用列与约束生成(column and constraint generation,CCG)算法求解。基于改进的IEEE-33节点系统的算例仿真结果表明,所提出的柔性配电网分布式无功优化方法具有较好的收敛性,兼顾了经济性和鲁棒性的平衡。
