This paper introduces an algorithm for beamforming systems by the aid of multidimensional harmonic retrieval(MHR).This algorithm resolves problems,removes limitations of sampling and provides a more robust beamformer....This paper introduces an algorithm for beamforming systems by the aid of multidimensional harmonic retrieval(MHR).This algorithm resolves problems,removes limitations of sampling and provides a more robust beamformer.A new sample space is created that can be used for estimating weights of a new beamforming called spatial-harmonics retrieval beamformer(SHRB).Simulation results show that SHRB has a better performance,accuracy,and applicability and more powerful eigenvalues than conventional beamformers.A simple mathematical proof is provided.By changing the number of harmonics,as a degree of freedom that is missing in conventional beamformers,SHRB can achieve more optimal outputs without increasing the number of spatial or temporal samples.We will demonstrate that SHRB offers an improvement of 4 dB in signal to noise ratio(SNR) in bit error rate(BER) of 10~(-4) over conventional beamformers.In the case of direction of arrival(DOA) estimation,SHRB can estimate the DOA of the desired signal with an SNR of-25 dB,when conventional methods cannot have acceptable response.展开更多
The generation of optical vortices from nonlinear photonic crystals(NPCs)with spatially modulated second-order nonlinearity offers a promising approach to extend the working wavelength and topological charge of vortex...The generation of optical vortices from nonlinear photonic crystals(NPCs)with spatially modulated second-order nonlinearity offers a promising approach to extend the working wavelength and topological charge of vortex beams for various applications.In this work,the second harmonic(SH)optical vortex beams generated from nonlinear fork gratings under Gaussian beam illumination are numerically investigated.The far-field intensity and phase distributions,as well as the orbital angular momentum(OAM)spectra of the SH beams,are analyzed for different structural topological charges and diffraction orders.Results reveal that higher-order diffraction and larger structural topological charges lead to angular interference patterns and non-uniform intensity distributions,deviating from the standard vortex profile.To optimize the SH vortex quality,the effects of the fundamental wave beam waist,crystal thickness,and grating duty cycle are explored.It is shown that increasing the beam waist can effectively suppress diffraction order interference and improve the beam’s quality.This study provides theoretical guidance for enhancing the performance of nonlinear optical devices based on NPCs.展开更多
In this paper,a linear optimization method(LOM)for the design of terahertz circuits is presented,aimed at enhancing the simulation efficacy and reducing the time of the circuit design workflow.This method enables the ...In this paper,a linear optimization method(LOM)for the design of terahertz circuits is presented,aimed at enhancing the simulation efficacy and reducing the time of the circuit design workflow.This method enables the rapid determination of optimal embedding impedance for diodes across a specific bandwidth to achieve maximum efficiency through harmonic balance simulations.By optimizing the linear matching circuit with the optimal embedding impedance,the method effectively segregates the simulation of the linear segments from the nonlinear segments in the frequency multiplier circuit,substantially improving the speed of simulations.The design of on-chip linear matching circuits adopts a modular circuit design strategy,incorporating fixed load resistors to simplify the matching challenge.Utilizing this approach,a 340 GHz frequency doubler was developed and measured.The results demonstrate that,across a bandwidth of 330 GHz to 342 GHz,the efficiency of the doubler remains above 10%,with an input power ranging from 98 mW to 141mW and an output power exceeding 13 mW.Notably,at an input power of 141 mW,a peak output power of 21.8 mW was achieved at 334 GHz,corresponding to an efficiency of 15.8%.展开更多
Two alkali-metal sulfamates nonlinear optical(NLO)crystals,Li(NH_(2)SO_(3))and Na(NH_(2)SO_(3)),have been obtained through the facile evaporation method.Li(NH_(2)SO_(3))crystallizes in the polar space group Pca2_(1)(N...Two alkali-metal sulfamates nonlinear optical(NLO)crystals,Li(NH_(2)SO_(3))and Na(NH_(2)SO_(3)),have been obtained through the facile evaporation method.Li(NH_(2)SO_(3))crystallizes in the polar space group Pca2_(1)(No.29).The structure of Li(NH_(2)SO_(3))can be described as a 3D network formed by[LiO_(4)]^(7-)polyhedral connecting with NH_(2)SO_(3)^(-)tetrahedra through corner-sharing.Na(NH_(2)SO_(3))crystallizes in the polar space group P2_(1)2_(1)2_(1)(No.19).The structure of Na(NH_(2)SO_(3))can be described as a 3D network formed by distorted[NaO_(6)]^(11-)octahedral connecting with NH_(2)SO_(3)^(-)tetrahedra through corner-sharing.The UV-Vis-near-infrared spectra demonstrate that Li(NH_(2)SO_(3))and Na(NH_(2)SO_(3))possessed large optical band gaps of 5.25 and 4.81 eV,respectively.Powder second-harmonic generation(SHG)measurements demonstrate that the SHG intensity of Li(NH_(2)SO_(3))and Na(NH_(2)SO_(3))were 0.32 times and 0.31 times that of KH_(2)PO_(4),respectively.First-principles calculations confirm the nonlinear optical performance mainly derived from the synergistic effect of amino sulfonate anions and alkali metal oxide anionic polyhedra.CCDC:2339109,Li(NH_(2)SO_(3));2339110,Na(NH_(2)SO_(3)).展开更多
To facilitate rapid analysis of the oscillation stability mechanism in modular multilevel converter-based high voltage direct current(MMC-HVDC)systems and streamline the simulation process for determining MMC impedanc...To facilitate rapid analysis of the oscillation stability mechanism in modular multilevel converter-based high voltage direct current(MMC-HVDC)systems and streamline the simulation process for determining MMC impedance characteristics,a simplified mathematical simulation model for MMC closed-loop impedance is developed using the harmonic state space method.This model considers various control strategies and includes both AC-side and DC-side impedance models.By applying a Nyquist criterion-based impedance analysis method,the stability mechanisms on the AC and DC sides of the MMC are examined.In addition,a data-driven oscillation stability analysis method is also proposed,leveraging a global sensitivity algorithm based on fast model results to identify key parameters influencing MMC oscillation stability.Based on sensitivity analysis results,a parameter adjustment strategy for oscillation suppression is proposed.The simulation results from the MATLAB/Simulinkbased MMC model validate the effectiveness of the proposed method.展开更多
Shunt capacitors are broadly applied in distribution systems to scale down power losses, improve voltage profile and boost system capacity. The amount of capacitors added and location of deployment in the system highl...Shunt capacitors are broadly applied in distribution systems to scale down power losses, improve voltage profile and boost system capacity. The amount of capacitors added and location of deployment in the system highly determine the advantage of compensation. A novel global harmony search(GHS) algorithm in parallel with the backward/ forward sweep power flow technique and radial harmonic power flow was used to investigate the optimal placement and sizing of capacitors in radial distribution networks for minimizing power loss and total cost by taking account load unbalancing, mutual coupling and harmonics. The optimal capacitor placement outcomes show that the GHS algorithm can reduce total power losses up to 60 k W and leads to more than 18% of cost saving. The results also demonstrate that the GHS algorithm is more effective in minimization of power loss and total costs compared with genetic algorithm(GA), particle swarm optimization(PSO) and harmony search(HS) algorithm. Moreover, the proposed algorithm converges within 800 iterations and is faster in terms of computational time and gives better performance in finding optimal capacitor location and size compared with other optimization techniques.展开更多
For multiple grid-connected inverters with active filter function,it makes sense to regulate every unit to output maximum active power from photovoltaic arrays,as well as eliminate the harmonic due to the non-linear l...For multiple grid-connected inverters with active filter function,it makes sense to regulate every unit to output maximum active power from photovoltaic arrays,as well as eliminate the harmonic due to the non-linear loads connected to the electric networks.Naturally,a centralized control coordination strategy was proposed for the purpose of high facility utilization,good harmonic compensation ability and unwanted overcompensation condition.Based on a vector decoupling control scheme and generalized instantaneous reactive power theory,the solution was to allocate the harmonic eliminating task for every inverter according to the instantaneous power margin of each.The grid current always keeps sinusoidal in spite of non-linear load change and output active power change for any inverter.The simulation results validate the efficacy of the proposed coordination strategy.展开更多
An inverse system method based optimal control strategy was proposed for the shunt hybrid active power filter （SHAPF） to enhance its harmonic elimination performance. Based on the inverse system method, the d-axis a...An inverse system method based optimal control strategy was proposed for the shunt hybrid active power filter （SHAPF） to enhance its harmonic elimination performance. Based on the inverse system method, the d-axis and q-axis current dynamics of the SHAPF system were decoupled and linearized into two pseudolinear subsystems. Then, an optimal feedback controUer was designed for the pseudolinear system, and the stability condition of the resulting zero dynamics was presented. Under the control strategy, the current dynamics can asymptotically converge to their reference states and the zero dynamics can be bounded. Simulation results show that the proposed control strategy is robust against load variations and system parameter mismatches, its steady-state performance is better than that of the traditional linear control strategy.展开更多
In order to establish a new method for measuring the dimensions of coarse aggregates, five different-size flat and elongated (F&E) coarse aggregates were glued into two specimens by epoxy resin, respectively, and ...In order to establish a new method for measuring the dimensions of coarse aggregates, five different-size flat and elongated (F&E) coarse aggregates were glued into two specimens by epoxy resin, respectively, and slice images were obtained by X-ray CT, then the aggregates were extracted by the fuzzy c-means clustering algorithm. Attributions of the particle on different cross-sections were determined by the ‘overlap area method’. And unified three-dimensional Cartesian coordinate system was established based on continuous slice images. The coefficient values of spherical harmonics descriptor representing particles surface profile were gained, then each scanned particle was represented by 60×120 discrete points conformably with spherical harmonics descriptor. The chord length and direction angles were determined by the calculation. With the major axis (L) and orthogonal axis (W and T), the calculated results were compared with those measured by caliper. It is concluded that the new L, W, and T dimension measuring method is able to take the place of the present manual measurement.展开更多
The goal of this paper is to find an excellent adaptive window function for extracting the weak vibration signal and high frequency vibration signal under strong noise.The relationship between windowing transform andf...The goal of this paper is to find an excellent adaptive window function for extracting the weak vibration signal and high frequency vibration signal under strong noise.The relationship between windowing transform andfiltering is analyzed first in the paper.The advantage of adjustable time-frequency window of wavelet transform is introduced.Secondly the relationship between harmonic wavelet and multiple analytic band-pass filter is analyzed.The coherence of the multiple analytic band-pass filter and harmonic wavelet base function is discussed,and the characteristic that multiple analytic band-pass filter included in the harmonic wavelet transform is founded.Thirdly,by extending the harmonic wavelet transform,the concept of the adaptive harmonic window and its theoretical equation without decomposition are put forward in this paper.Then comparing with the Hanning window,the good performance of restraining side-lobe leakage possessed by adaptive harmonic window is shown,and the adaptive characteristics of window width changing and analytical center moving of the adaptive harmonic window are presented.Finally,the proposed adaptive harmonic window is applied to weak signal extraction and high frequency orbit extraction of high speed rotor under strong noise,and the satisfactory results are achieved.The application results show that the adaptive harmonic window function can be successfully applied to the actual engineering signal processing.展开更多
The paper probes into a probable condition that causes temper mill chatter from aspect of electromechanical coupling of complex electromechanical system, and mainly studies the effect of temper mill electrical driving...The paper probes into a probable condition that causes temper mill chatter from aspect of electromechanical coupling of complex electromechanical system, and mainly studies the effect of temper mill electrical driving system harmonic current on the main motion of temper mill set. Aiming at the electrical driving system of CM04 temper mill, the effect of harmonic current is analyzed and evaluated according to different load. Combining the features of CM04 temper mill′s structure and its working state, the paper discusses in every detail how the harmonic current in main circuit, which can be regarded as a disturbance via feedback control circuit , influences main motion of temper mill set.展开更多
In order to obtain a new-type short cylindrical cup-shaped flexspline that can be applied to space mechanisms,the APDL language of ANSYS software was employed to develop a parameterized equivalent contact model betwee...In order to obtain a new-type short cylindrical cup-shaped flexspline that can be applied to space mechanisms,the APDL language of ANSYS software was employed to develop a parameterized equivalent contact model between a flexspline and a wave generator. The validity of the parameterized equivalent contact model was verified by comparing the results of the analytic value of the contact model and the value calculated by the theoretical formula. The curvilinear trend of stress was obtained by changing the structural parameter of the flexspline. Based on the curvilinear trend of stress,multi-objective optimizations of key structural parameters were achieved. Flexspline,wave generator,and circular spline of a new 32-type short cylindrical cup-shaped harmonic reducer were designed and manufactured. A performance test bench to carry out tests on the harmonic reducer was designed. Contrast experiments were implemented to determine the efficiency of the new 32-type short cylindrical cup-shaped harmonic reducer and the conventional 32-type harmonic reducer under different conditions. The experimental results reveal that there is approximately equality in terms of efficiency between the new 32-type short cylindrical cup-shaped harmonic reducer and the conventional 32-type harmonic reducer. The volume of the flexspline of the new 32-type short cylindrical cup-shaped harmonic reducer is reduced by approximately 30% through multi-objective optimization. When the new 32-type short cylindrical cup-shaped harmonic reducer is used on the wheel of a rover prototype,the mass of the wheel hub is decreased by 0.42 kg. Test analysis of wheel motion verifies that the new 32-type short cylindrical cup-shaped harmonic reducer can meet the requirements regarding bearing capacity and efficiency.展开更多
文摘This paper introduces an algorithm for beamforming systems by the aid of multidimensional harmonic retrieval(MHR).This algorithm resolves problems,removes limitations of sampling and provides a more robust beamformer.A new sample space is created that can be used for estimating weights of a new beamforming called spatial-harmonics retrieval beamformer(SHRB).Simulation results show that SHRB has a better performance,accuracy,and applicability and more powerful eigenvalues than conventional beamformers.A simple mathematical proof is provided.By changing the number of harmonics,as a degree of freedom that is missing in conventional beamformers,SHRB can achieve more optimal outputs without increasing the number of spatial or temporal samples.We will demonstrate that SHRB offers an improvement of 4 dB in signal to noise ratio(SNR) in bit error rate(BER) of 10~(-4) over conventional beamformers.In the case of direction of arrival(DOA) estimation,SHRB can estimate the DOA of the desired signal with an SNR of-25 dB,when conventional methods cannot have acceptable response.
基金supported by the National Nat-ural Science Foundation of China(Nos.12192251,12174185,92163216,and 62288101).
文摘The generation of optical vortices from nonlinear photonic crystals(NPCs)with spatially modulated second-order nonlinearity offers a promising approach to extend the working wavelength and topological charge of vortex beams for various applications.In this work,the second harmonic(SH)optical vortex beams generated from nonlinear fork gratings under Gaussian beam illumination are numerically investigated.The far-field intensity and phase distributions,as well as the orbital angular momentum(OAM)spectra of the SH beams,are analyzed for different structural topological charges and diffraction orders.Results reveal that higher-order diffraction and larger structural topological charges lead to angular interference patterns and non-uniform intensity distributions,deviating from the standard vortex profile.To optimize the SH vortex quality,the effects of the fundamental wave beam waist,crystal thickness,and grating duty cycle are explored.It is shown that increasing the beam waist can effectively suppress diffraction order interference and improve the beam’s quality.This study provides theoretical guidance for enhancing the performance of nonlinear optical devices based on NPCs.
基金Supported by the Beijing Municipal Science&Technology Commission(Z211100004421012),the Key Reaserch and Development Pro⁃gram of China(2022YFF0605902)。
文摘In this paper,a linear optimization method(LOM)for the design of terahertz circuits is presented,aimed at enhancing the simulation efficacy and reducing the time of the circuit design workflow.This method enables the rapid determination of optimal embedding impedance for diodes across a specific bandwidth to achieve maximum efficiency through harmonic balance simulations.By optimizing the linear matching circuit with the optimal embedding impedance,the method effectively segregates the simulation of the linear segments from the nonlinear segments in the frequency multiplier circuit,substantially improving the speed of simulations.The design of on-chip linear matching circuits adopts a modular circuit design strategy,incorporating fixed load resistors to simplify the matching challenge.Utilizing this approach,a 340 GHz frequency doubler was developed and measured.The results demonstrate that,across a bandwidth of 330 GHz to 342 GHz,the efficiency of the doubler remains above 10%,with an input power ranging from 98 mW to 141mW and an output power exceeding 13 mW.Notably,at an input power of 141 mW,a peak output power of 21.8 mW was achieved at 334 GHz,corresponding to an efficiency of 15.8%.
文摘Two alkali-metal sulfamates nonlinear optical(NLO)crystals,Li(NH_(2)SO_(3))and Na(NH_(2)SO_(3)),have been obtained through the facile evaporation method.Li(NH_(2)SO_(3))crystallizes in the polar space group Pca2_(1)(No.29).The structure of Li(NH_(2)SO_(3))can be described as a 3D network formed by[LiO_(4)]^(7-)polyhedral connecting with NH_(2)SO_(3)^(-)tetrahedra through corner-sharing.Na(NH_(2)SO_(3))crystallizes in the polar space group P2_(1)2_(1)2_(1)(No.19).The structure of Na(NH_(2)SO_(3))can be described as a 3D network formed by distorted[NaO_(6)]^(11-)octahedral connecting with NH_(2)SO_(3)^(-)tetrahedra through corner-sharing.The UV-Vis-near-infrared spectra demonstrate that Li(NH_(2)SO_(3))and Na(NH_(2)SO_(3))possessed large optical band gaps of 5.25 and 4.81 eV,respectively.Powder second-harmonic generation(SHG)measurements demonstrate that the SHG intensity of Li(NH_(2)SO_(3))and Na(NH_(2)SO_(3))were 0.32 times and 0.31 times that of KH_(2)PO_(4),respectively.First-principles calculations confirm the nonlinear optical performance mainly derived from the synergistic effect of amino sulfonate anions and alkali metal oxide anionic polyhedra.CCDC:2339109,Li(NH_(2)SO_(3));2339110,Na(NH_(2)SO_(3)).
基金National Natural Science Foundation of China(52307127)State Key Laboratory of Power System Operation and Control(SKLD23KZ07)。
文摘To facilitate rapid analysis of the oscillation stability mechanism in modular multilevel converter-based high voltage direct current(MMC-HVDC)systems and streamline the simulation process for determining MMC impedance characteristics,a simplified mathematical simulation model for MMC closed-loop impedance is developed using the harmonic state space method.This model considers various control strategies and includes both AC-side and DC-side impedance models.By applying a Nyquist criterion-based impedance analysis method,the stability mechanisms on the AC and DC sides of the MMC are examined.In addition,a data-driven oscillation stability analysis method is also proposed,leveraging a global sensitivity algorithm based on fast model results to identify key parameters influencing MMC oscillation stability.Based on sensitivity analysis results,a parameter adjustment strategy for oscillation suppression is proposed.The simulation results from the MATLAB/Simulinkbased MMC model validate the effectiveness of the proposed method.
文摘Shunt capacitors are broadly applied in distribution systems to scale down power losses, improve voltage profile and boost system capacity. The amount of capacitors added and location of deployment in the system highly determine the advantage of compensation. A novel global harmony search(GHS) algorithm in parallel with the backward/ forward sweep power flow technique and radial harmonic power flow was used to investigate the optimal placement and sizing of capacitors in radial distribution networks for minimizing power loss and total cost by taking account load unbalancing, mutual coupling and harmonics. The optimal capacitor placement outcomes show that the GHS algorithm can reduce total power losses up to 60 k W and leads to more than 18% of cost saving. The results also demonstrate that the GHS algorithm is more effective in minimization of power loss and total costs compared with genetic algorithm(GA), particle swarm optimization(PSO) and harmony search(HS) algorithm. Moreover, the proposed algorithm converges within 800 iterations and is faster in terms of computational time and gives better performance in finding optimal capacitor location and size compared with other optimization techniques.
基金Project(51107111)supported by the National Natural Science Foundation of China
文摘For multiple grid-connected inverters with active filter function,it makes sense to regulate every unit to output maximum active power from photovoltaic arrays,as well as eliminate the harmonic due to the non-linear loads connected to the electric networks.Naturally,a centralized control coordination strategy was proposed for the purpose of high facility utilization,good harmonic compensation ability and unwanted overcompensation condition.Based on a vector decoupling control scheme and generalized instantaneous reactive power theory,the solution was to allocate the harmonic eliminating task for every inverter according to the instantaneous power margin of each.The grid current always keeps sinusoidal in spite of non-linear load change and output active power change for any inverter.The simulation results validate the efficacy of the proposed coordination strategy.
基金Project(61174068)supported by the National Natural Science Foundation of China
文摘An inverse system method based optimal control strategy was proposed for the shunt hybrid active power filter （SHAPF） to enhance its harmonic elimination performance. Based on the inverse system method, the d-axis and q-axis current dynamics of the SHAPF system were decoupled and linearized into two pseudolinear subsystems. Then, an optimal feedback controUer was designed for the pseudolinear system, and the stability condition of the resulting zero dynamics was presented. Under the control strategy, the current dynamics can asymptotically converge to their reference states and the zero dynamics can be bounded. Simulation results show that the proposed control strategy is robust against load variations and system parameter mismatches, its steady-state performance is better than that of the traditional linear control strategy.
基金Project(51038004) supported by the National Natural Science Foundation of ChinaProject(2009318000078) supported by the Western China Communications Construction and Technology Program, China
文摘In order to establish a new method for measuring the dimensions of coarse aggregates, five different-size flat and elongated (F&E) coarse aggregates were glued into two specimens by epoxy resin, respectively, and slice images were obtained by X-ray CT, then the aggregates were extracted by the fuzzy c-means clustering algorithm. Attributions of the particle on different cross-sections were determined by the ‘overlap area method’. And unified three-dimensional Cartesian coordinate system was established based on continuous slice images. The coefficient values of spherical harmonics descriptor representing particles surface profile were gained, then each scanned particle was represented by 60×120 discrete points conformably with spherical harmonics descriptor. The chord length and direction angles were determined by the calculation. With the major axis (L) and orthogonal axis (W and T), the calculated results were compared with those measured by caliper. It is concluded that the new L, W, and T dimension measuring method is able to take the place of the present manual measurement.
基金Project(51675262)supported by the National Natural Science Foundation of ChinaProject(6140210020102)supported by the Advance Research Field Fund Project of ChinaProject(2016YFD0700800)supported by the National Key Research and Development Plan of China
文摘The goal of this paper is to find an excellent adaptive window function for extracting the weak vibration signal and high frequency vibration signal under strong noise.The relationship between windowing transform andfiltering is analyzed first in the paper.The advantage of adjustable time-frequency window of wavelet transform is introduced.Secondly the relationship between harmonic wavelet and multiple analytic band-pass filter is analyzed.The coherence of the multiple analytic band-pass filter and harmonic wavelet base function is discussed,and the characteristic that multiple analytic band-pass filter included in the harmonic wavelet transform is founded.Thirdly,by extending the harmonic wavelet transform,the concept of the adaptive harmonic window and its theoretical equation without decomposition are put forward in this paper.Then comparing with the Hanning window,the good performance of restraining side-lobe leakage possessed by adaptive harmonic window is shown,and the adaptive characteristics of window width changing and analytical center moving of the adaptive harmonic window are presented.Finally,the proposed adaptive harmonic window is applied to weak signal extraction and high frequency orbit extraction of high speed rotor under strong noise,and the satisfactory results are achieved.The application results show that the adaptive harmonic window function can be successfully applied to the actual engineering signal processing.
文摘The paper probes into a probable condition that causes temper mill chatter from aspect of electromechanical coupling of complex electromechanical system, and mainly studies the effect of temper mill electrical driving system harmonic current on the main motion of temper mill set. Aiming at the electrical driving system of CM04 temper mill, the effect of harmonic current is analyzed and evaluated according to different load. Combining the features of CM04 temper mill′s structure and its working state, the paper discusses in every detail how the harmonic current in main circuit, which can be regarded as a disturbance via feedback control circuit , influences main motion of temper mill set.
基金Project(2010DFR70270) supported by the International Science and Technology Cooperation Project with RussiaProjects(50975059,61005080) supported by the National Natural Science Foundation of China+2 种基金Project(B07018) supported by "111" Program of ChinaProject(SKLRS200801A02) supported by the Foundation of State Key Laboratory of Robotics and System (Harbin Institute of Technology),ChinaProject(HIT2009061) supported by the Key Subject Laboratory Open Fund of China
文摘In order to obtain a new-type short cylindrical cup-shaped flexspline that can be applied to space mechanisms,the APDL language of ANSYS software was employed to develop a parameterized equivalent contact model between a flexspline and a wave generator. The validity of the parameterized equivalent contact model was verified by comparing the results of the analytic value of the contact model and the value calculated by the theoretical formula. The curvilinear trend of stress was obtained by changing the structural parameter of the flexspline. Based on the curvilinear trend of stress,multi-objective optimizations of key structural parameters were achieved. Flexspline,wave generator,and circular spline of a new 32-type short cylindrical cup-shaped harmonic reducer were designed and manufactured. A performance test bench to carry out tests on the harmonic reducer was designed. Contrast experiments were implemented to determine the efficiency of the new 32-type short cylindrical cup-shaped harmonic reducer and the conventional 32-type harmonic reducer under different conditions. The experimental results reveal that there is approximately equality in terms of efficiency between the new 32-type short cylindrical cup-shaped harmonic reducer and the conventional 32-type harmonic reducer. The volume of the flexspline of the new 32-type short cylindrical cup-shaped harmonic reducer is reduced by approximately 30% through multi-objective optimization. When the new 32-type short cylindrical cup-shaped harmonic reducer is used on the wheel of a rover prototype,the mass of the wheel hub is decreased by 0.42 kg. Test analysis of wheel motion verifies that the new 32-type short cylindrical cup-shaped harmonic reducer can meet the requirements regarding bearing capacity and efficiency.
