Good understanding of relationship between parameters of vehicle, terrain and interaction at the interface is required to develop effective navigation and motion control algorithms for autonomous wheeled mobile robots...Good understanding of relationship between parameters of vehicle, terrain and interaction at the interface is required to develop effective navigation and motion control algorithms for autonomous wheeled mobile robots （AWMR） in rough terrain. A model and analysis of relationship among wheel slippage （S）, rotation angle （0）, sinkage （z） and wheel radius （r） are presented. It is found that wheel rotation angle, sinkage and radius have some influence on wheel slippage. A multi-objective optimization problem with slippage as utility function was formulated and solved in MATLAB. The results reveal the optimal values of wheel-terrain parameters required to achieve optimum slippage on dry sandy terrain. A method of slippage estimation for a five-wheeled mobile robot was presented through comparing the odometric measurements of the powered wheels with those of the fifth non-powered wheel. The experimental result shows that this method is feasible and can be used for online slippage estimation in a sandy terrain.展开更多
Texture evolution and inhomogeneous deformation of polycrystalline Cu during uniaxial compression are investigated at the grain scale by combining crystal plasticity finite element method(CPFEM) with particle swarm op...Texture evolution and inhomogeneous deformation of polycrystalline Cu during uniaxial compression are investigated at the grain scale by combining crystal plasticity finite element method(CPFEM) with particle swarm optimization(PSO) algorithm. The texture-based representative volume element(TBRVE) is used in the crystal plasticity finite element model, where a given number of crystallographic orientations are obtained by means of discretizing the orientation distribution function(ODF) based on electron backscattered diffraction(EBSD) experiment data. Three-dimensional grains with different morphologies are generated on the basis of Voronoi tessellation. The PSO algorithm plays a significant role in identifying the material parameters and saving computational time. The macroscopic stress–strain curve is predicted based on CPFEM, where the simulation results are in good agreement with the experimental ones. Therefore, CPFEM is a powerful candidate for capturing the texture evolution and clarifying the inhomogeneous plastic deformation of polycrystalline Cu. The simulation results indicate that the <110> fiber texture is generated finally with the progression of plastic deformation. The inhomogeneous distribution of rotation angles lays the foundation for the inhomogeneous deformation of polycrystalline Cu in terms of grain scale.展开更多
This paper presents the design optimization of composite submersible cylindrical pressure hull subjected to 3 MPa hydrostatic pressure.The design optimization study is conducted for cross-ply layups[0_(s)/90_(t)/0_(u)...This paper presents the design optimization of composite submersible cylindrical pressure hull subjected to 3 MPa hydrostatic pressure.The design optimization study is conducted for cross-ply layups[0_(s)/90_(t)/0_(u)],[0_(s)/90_(t)/0_(u)]s,[0_(s)/90_(t)]s and[90_(s)/0_(t)]s considering three uni-directional composites,i.e.Carbon/Epoxy,Glass/Epoxy,and Boron/Epoxy.The optimization study is performed by coupling a Multi-Objective Genetic Algorithm(MOGA)and Analytical Analysis.Minimizing the buoyancy factor and maximizing the buckling load factor are considered as the objectives of the optimization study.The objectives of the optimization are achieved under constraints on the Tsai-Wu,Tsai-Hill and Maximum Stress composite failure criteria and on buckling load factor.To verify the optimization approach,optimization of one particular layup configuration is also conducted in ANSYS with the same objectives and constraints.展开更多
In order to simulate the gait of human walking on different terrains a new robot with six degrees of freedom was proposed. Based on sand bearing characteristic compliance control was introduced to control system in ho...In order to simulate the gait of human walking on different terrains a new robot with six degrees of freedom was proposed. Based on sand bearing characteristic compliance control was introduced to control system in horizontal and vertical movement directions at the end of the robot,and position control in attitude. With Matlab/Simulink toolbox,the system control models were established,and the bearing characteristics of rigid ground,hard sand,soft sand and softer sand were simulated. The results show that 0,0.62,0.89 and 1.12 mm are the maximal subsidences of the four kinds of ground along the positive direction of x-axis,respectively,and 0,-0.96,-1.99 and -3.00 mm are the maximal subsidences along the negative direction of x-axis,respectively. Every subsidence along y-axis is negative,and 0,-4.12,-8.23 and -12.01 mm are the maximal subsidences of the four kinds of ground,respectively. Simulation results show that the subsidence of footboard points to inferior anterior in early stage of stand phase,while points to posterior aspect in late stage. The subsidence tends to point to posterior aspect in the whole. These results are basically consistent with the gait characteristics of human walking on sand. Gait simulation of the robot for human walking on sand is achieved.展开更多
To solve the problem of sealing between the barrel and the rubber ring of shell body during an launching process of aerodynamic extinguishing cannon, a rubber sealing model with bionic dimpled characteristics was esta...To solve the problem of sealing between the barrel and the rubber ring of shell body during an launching process of aerodynamic extinguishing cannon, a rubber sealing model with bionic dimpled characteristics was established based on the theory of bionic dimpled drag reduction and the principle of rubber sealing. In condition that the bionic dimpled characteristic diameters were 1, 2, 3, 4, and 5 mm, respectively, by numerical simulation, the influence of the installing compression of the rubber sealing ring on its surface stress and deformation was analyzed, and sealing performance of the rubber ring with different diameters of bionic dimpled was studied. The results show that the deformation of rubber ring appears prominent nonlinear characteristics when compression is increased from 1.5 mm to 2.5 ram. When the compression is 2.5 mm, the equivalent compression stress on the sealing areas of both sides of the rubber seal is greater than the working pressure of aerodynamic extinguishing cannon, which could meet the sealing requirement and would not cause leakage. So the rubber sealing ring with bionic dimpled surface possesses a good sealing characteristic and has no negative effect on the sealing of shell body; When the compression is 2.5 mm, the larger equivalent stress on the edge of sealing ring and the more even stress distribution in the high pressure area are generated due to the smaller compressive stress on the bionic dimple areas, which lays a foundation for the drag reduction characteristics of the shell body＇s rubber ring with bionic dimpled surface.展开更多
In order to present the microstructures of dynamic recrystallization(DRX) in different deformation zones of hot extruded NiTi shape memory alloy(SMA) pipe coupling,a simulation approach combining finite element method...In order to present the microstructures of dynamic recrystallization(DRX) in different deformation zones of hot extruded NiTi shape memory alloy(SMA) pipe coupling,a simulation approach combining finite element method(FEM) with cellular automaton(CA) was developed and the relationship between the macroscopic field variables and the microscopic internal variables was established.The results show that there exists a great distinction among the microstructures in different zones of pipe coupling because deformation histories of these regions are diverse.Large plastic deformation may result in fine recrystallized grains,whereas the recrystallized grains may grow very substantially if there is a rigid translation during the deformation,even if the final plastic strain is very large.As a consequence,the deformation history has a significant influence on the evolution path of the DRX as well as the final microstructures of the DRX,including the morphology,the mean grain size and the recrystallization fraction.展开更多
The problem of diving control for an underactuated unmanned undersea vehicle(UUV) considering the presence of parameters perturbations and wave disturbances was addressesed.The vertical motion of an UUV was divided in...The problem of diving control for an underactuated unmanned undersea vehicle(UUV) considering the presence of parameters perturbations and wave disturbances was addressesed.The vertical motion of an UUV was divided into two noninteracting subsystems for surge velocity control and diving.To stabilize the vertical motion system,the surge velocity and the depth control controllers were proposed using backstepping technology and an integral-fast terminal sliding mode control(IFTSMC).It is proven that the proposed control scheme can guarantee that all the error signals in the whole closed-loop system globally converge to the sliding surface in finite time and asymptotically converge to the origin along the sliding surface.With a unified control parameters for different motion states,a series of numerical simulation results illustrate the effectiveness of the above designed control scheme,which also shows strong robustness against parameters perturbations and wave disturbances.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
Based on the biological prototype characteristics of shark’s gill jet orifice,the flexible driving characteristics of ionic exchange polymer metal composites(IPMC)artificial muscle materials and the use of sleeve fle...Based on the biological prototype characteristics of shark’s gill jet orifice,the flexible driving characteristics of ionic exchange polymer metal composites(IPMC)artificial muscle materials and the use of sleeve flexible connector,the IPMC linear driving unit simulation model is built and the IPMC material-driving dynamic control structure of bionic gill unit is developed.Meanwhile,through the stress analysis of bionic gill plate and the motion simulation of bionic gill unit,it is verified that various dynamic control and active control of the jet orifice under the condition of different mainstream field velocities will be taken by using IPMC material-driving.Moreover,the large-deflection deformation of bionic gill plate under dynamic pressure and the comparative analysis with that of a rigid gill plate is studied,leading to the achievement of approximate revised modifier from real value to theoretical value of the displacement control of IPMC.展开更多
This paper describes a design optimization study of the composite egg-shaped submersible pressure hull employing optimization and finite element analysis(FEA)tools as a first attempt to provide an optimized design of ...This paper describes a design optimization study of the composite egg-shaped submersible pressure hull employing optimization and finite element analysis(FEA)tools as a first attempt to provide an optimized design of the composite egg-shaped pressure hull for manufacturing or further investigations.A total of 15 optimal designs for the composite egg-shaped pressure hull under hydrostatic pressure are obtained in terms of fibers’angles and the number of layers for 5 lay-up arrangements and 3 unidirectional(UD)composite materials.The optimization process is performed utilizing a genetic algorithm and FEA in ANSYS.The minimization of the buoyancy factor eB:FT is selected as the objective for the optimization under constraints on both material failure and buckling strength.Nonlinear buckling analysis is conducted for one optimal design considering both geometric nonlinearity and imperfections.A sensitivity study is also conducted to further investigate the influence of the design variables on the optimal design of the egg-shaped pressure hull.展开更多
Collective pitch control and individual pitch control algorithms were present for straight-bladed vertical axis wind turbine to improve the self-starting capacity.Comparative analysis of straight-bladed vertical axis ...Collective pitch control and individual pitch control algorithms were present for straight-bladed vertical axis wind turbine to improve the self-starting capacity.Comparative analysis of straight-bladed vertical axis wind turbine(SB-VAWT) with or without pitch control was conducted from the aspects of aerodynamic force,flow structure and power coefficient.The computational fluid dynamics(CFD) prediction results show a significant increase in power coefficient for SB-VAWT with pitch control.According to the aerodynamic forces and total torque coefficient obtained at various tip speed ratios(TSRs),the results indicate that the blade pitch method can increase the power output and decrease the deformation of blade;especially,the total torque coefficient of blade pitch control at TSR 1.5 is about 2.5 times larger than that of fixed pitch case.Furthermore,experiment was carried out to verify the feasibility of pitch control methods.The results show that the present collective pitch control and individual pitch control methods can improve the self-starting capacity of SB-VAWT,and the former is much better and its proper operating TSRs ranges from 0.4 to 0.6.展开更多
In order to mitigate the effects of space adaptation syndrome(SAS) and improve the training efficiency of the astronauts, a novel astronaut rehabilitative training robot(ART) was proposed. ART can help the astronauts ...In order to mitigate the effects of space adaptation syndrome(SAS) and improve the training efficiency of the astronauts, a novel astronaut rehabilitative training robot(ART) was proposed. ART can help the astronauts to carry out the bench press training in the microgravity environment. Firstly, a dynamic model of cable driven unit(CDU) was established whose accuracy was verified through the model identification. Secondly, to improve the accuracy and the speed of the active loading, an active loading hybrid force controller was proposed on the basis of the dynamic model of the CDU. Finally, the actual effect of the hybrid force controller was tested by simulations and experiments. The results suggest that the hybrid force controller can significantly improve the precision and the dynamic performance of the active loading with the maximum phase lag of the active loading being 9° and the maximum amplitude error being 2% at the frequency range of 10 Hz. The controller can meet the design requirements.展开更多
Wind energy is one of the most promising renewable energy sources, straight-bladed vertical axis wind turbine(S-VAWT) appears to be particularly promising for the shortage of fossil fuel reserves owing to its distinct...Wind energy is one of the most promising renewable energy sources, straight-bladed vertical axis wind turbine(S-VAWT) appears to be particularly promising for the shortage of fossil fuel reserves owing to its distinct advantages, but suffers from poor self-starting and low power coefficient. Variable-pitch method was recognized as an attractive solution to performance improvement, thus majority efforts had been devoted into blade pitch angle effect on aerodynamic performance. Taken into account the local flow field of S-VAWT, mathematical model was built to analyze the relationship between power outputs and pitch angle. Numerical simulations on static and dynamic performances of blade were carried out and optimized pitch angle along the rotor were presented. Comparative analyses of fixed pitch and variable-pitch S-VAWT were conducted, and a considerable improvement of the performance was obtained by the optimized blade pitch angle, in particular, a relative increase of the power coefficient by more than 19.3%. It is further demonstrated that the self-starting is greatly improved with the optimized blade pitch angle.展开更多
To test the magnetic signals leaked from the surface of specimens during loading, the experiments of the static tensile of medium carbon 45# steel were carried out. The results show that the magnetic field strength va...To test the magnetic signals leaked from the surface of specimens during loading, the experiments of the static tensile of medium carbon 45# steel were carried out. The results show that the magnetic field strength values rapidly vary when the load began, and the curves of the magnetic field strength change from irregularity to regularity with the increase of the load. Furthermore, by comparing with the state of on-line testing, it is found that the magnetic signals of out-of-line testing has more practicability. In the course of loading, though the dots of passing zero of the magnetic field strength continually changed their positions and quantities, the last rupture places were always approached by the dots of passing zero since the elastic loading phase. Some certain relations should exist between external stress and changing of magnetic signals inside the material, and correlative explanation is made based on dislocation theory and the mechanism of magnetic domain action, which provides the basis for further research of magnetic memory.展开更多
The trajectory tracking control problem for underactuated unmanned surface vehicles(USV) was addressed, and the control system took account of the uncertain influences induced by model perturbation, external disturban...The trajectory tracking control problem for underactuated unmanned surface vehicles(USV) was addressed, and the control system took account of the uncertain influences induced by model perturbation, external disturbance, etc. By introducing the reference, trajectory was generated by a virtual USV, and the error equation of trajectory tracking for USV was obtained, which transformed the tracking problem of underactuated USV into the stabilization problem of the trajectory tracking error equation. A backstepping adaptive sliding mode controller was proposed based on backstepping technology and method of dynamic slide model control. By means of theoretical analysis, it is proved that the proposed controller ensures that the solutions of closed loop system have the ultimate boundedness property. Simulation results are presented to illustrate the effectiveness of the proposed controller.展开更多
Walking is the most basic and essential part of the activities of daily living. To enable the elderly and non-ambulatory gait-impaired patients, the repetitive practice of this task, a novel gait training robot(GTR) w...Walking is the most basic and essential part of the activities of daily living. To enable the elderly and non-ambulatory gait-impaired patients, the repetitive practice of this task, a novel gait training robot(GTR) was designed followed the end-effector principle, and an active partial body weight support(PBWS) system was introduced to facilitate successful gait training. For successful establishment of a walking gait on the GTR with PBWS, the motion laws of the GTR were planned to enable the phase distribution relationships of the cycle step, and the center of gravity(COG) trajectory of the human body during gait training on the GTR was measured. A coordinated control strategy was proposed based on the impedance control principle. A robotic prototype was developed as a platform for evaluating the design concepts and control strategies. Preliminary gait training with a healthy subject was implemented by the robotic-assisted gait training system and the experimental results are encouraging.展开更多
The electro-hydraulic servo system was studied to cancel the amplitude attenuation and phase delay of its sinusoidal response,by developing a network using normalized least-mean-square (LMS) adaptive filtering algorit...The electro-hydraulic servo system was studied to cancel the amplitude attenuation and phase delay of its sinusoidal response,by developing a network using normalized least-mean-square (LMS) adaptive filtering algorithm.The command input was corrected by weights to generate the desired input for the algorithm,and the feedback was brought into the feedback correction,whose output was the weighted feedback.The weights of the normalized LMS adaptive filtering algorithm were updated on-line according to the estimation error between the desired input and the weighted feedback.Thus,the updated weights were copied to the input correction.The estimation error was forced to zero by the normalized LMS adaptive filtering algorithm such that the weighted feedback was equal to the desired input,making the feedback track the command.The above concept was used as a basis for the development of amplitude phase control.The method has good real-time performance without estimating the system model.The simulation and experiment results show that the proposed amplitude phase control can efficiently cancel the amplitude attenuation and phase delay with high precision.展开更多
The path following problem for an underactuated unmanned surface vehicle(USV) in the Serret-Frenet frame is addressed. The control system takes account of the uncertain influence induced by model perturbation, externa...The path following problem for an underactuated unmanned surface vehicle(USV) in the Serret-Frenet frame is addressed. The control system takes account of the uncertain influence induced by model perturbation, external disturbance, etc. By introducing the Serret-Frenet frame and global coordinate transformation, the control problem of underactuated system(a nonlinear system with single-input and ternate-output) is transformed into the control problem of actuated system(a single-input and single-output nonlinear system), which simplifies the controller design. A backstepping adaptive sliding mode controller(BADSMC)is proposed based on backstepping design technique, adaptive method and theory of dynamic slide model control(DSMC). Then, it is proven that the state of closed loop system is globally stabilized to the desired configuration with the proposed controller. Simulation results are presented to illustrate the effectiveness of the proposed controller.展开更多
基金Project(60775060) supported by the National Natural Science Foundation of ChinaProject(F200801) supported by the Natural Science Foundation of Heilongjiang Province,China+1 种基金Project(200802171053,20102304110006) supported by the Specialized Research Fund for the Doctoral Program of Higher Education of ChinaProject(2012RFXXG059) supported by Harbin Science and Technology Innovation Talents Special Fund,China
文摘Good understanding of relationship between parameters of vehicle, terrain and interaction at the interface is required to develop effective navigation and motion control algorithms for autonomous wheeled mobile robots （AWMR） in rough terrain. A model and analysis of relationship among wheel slippage （S）, rotation angle （0）, sinkage （z） and wheel radius （r） are presented. It is found that wheel rotation angle, sinkage and radius have some influence on wheel slippage. A multi-objective optimization problem with slippage as utility function was formulated and solved in MATLAB. The results reveal the optimal values of wheel-terrain parameters required to achieve optimum slippage on dry sandy terrain. A method of slippage estimation for a five-wheeled mobile robot was presented through comparing the odometric measurements of the powered wheels with those of the fifth non-powered wheel. The experimental result shows that this method is feasible and can be used for online slippage estimation in a sandy terrain.
基金Projects(51305091,51475101) supported by the National Natural Science Foundation of ChinaProject(20132304120025) supported by Specialized Research Fund for the Doctoral Program of Higher Education,China
文摘Texture evolution and inhomogeneous deformation of polycrystalline Cu during uniaxial compression are investigated at the grain scale by combining crystal plasticity finite element method(CPFEM) with particle swarm optimization(PSO) algorithm. The texture-based representative volume element(TBRVE) is used in the crystal plasticity finite element model, where a given number of crystallographic orientations are obtained by means of discretizing the orientation distribution function(ODF) based on electron backscattered diffraction(EBSD) experiment data. Three-dimensional grains with different morphologies are generated on the basis of Voronoi tessellation. The PSO algorithm plays a significant role in identifying the material parameters and saving computational time. The macroscopic stress–strain curve is predicted based on CPFEM, where the simulation results are in good agreement with the experimental ones. Therefore, CPFEM is a powerful candidate for capturing the texture evolution and clarifying the inhomogeneous plastic deformation of polycrystalline Cu. The simulation results indicate that the <110> fiber texture is generated finally with the progression of plastic deformation. The inhomogeneous distribution of rotation angles lays the foundation for the inhomogeneous deformation of polycrystalline Cu in terms of grain scale.
基金This work is supported by the National Natural Science Foundation of China research grant“Study on the characteristic motion and load of bubbles near a solid boundary in shear flows”(51679056)Natural Science Foundation of Heilongjiang Province of China(E2016024).
文摘This paper presents the design optimization of composite submersible cylindrical pressure hull subjected to 3 MPa hydrostatic pressure.The design optimization study is conducted for cross-ply layups[0_(s)/90_(t)/0_(u)],[0_(s)/90_(t)/0_(u)]s,[0_(s)/90_(t)]s and[90_(s)/0_(t)]s considering three uni-directional composites,i.e.Carbon/Epoxy,Glass/Epoxy,and Boron/Epoxy.The optimization study is performed by coupling a Multi-Objective Genetic Algorithm(MOGA)and Analytical Analysis.Minimizing the buoyancy factor and maximizing the buckling load factor are considered as the objectives of the optimization study.The objectives of the optimization are achieved under constraints on the Tsai-Wu,Tsai-Hill and Maximum Stress composite failure criteria and on buckling load factor.To verify the optimization approach,optimization of one particular layup configuration is also conducted in ANSYS with the same objectives and constraints.
基金Project(60575053) supported by the National Natural Science Foundation of China
文摘In order to simulate the gait of human walking on different terrains a new robot with six degrees of freedom was proposed. Based on sand bearing characteristic compliance control was introduced to control system in horizontal and vertical movement directions at the end of the robot,and position control in attitude. With Matlab/Simulink toolbox,the system control models were established,and the bearing characteristics of rigid ground,hard sand,soft sand and softer sand were simulated. The results show that 0,0.62,0.89 and 1.12 mm are the maximal subsidences of the four kinds of ground along the positive direction of x-axis,respectively,and 0,-0.96,-1.99 and -3.00 mm are the maximal subsidences along the negative direction of x-axis,respectively. Every subsidence along y-axis is negative,and 0,-4.12,-8.23 and -12.01 mm are the maximal subsidences of the four kinds of ground,respectively. Simulation results show that the subsidence of footboard points to inferior anterior in early stage of stand phase,while points to posterior aspect in late stage. The subsidence tends to point to posterior aspect in the whole. These results are basically consistent with the gait characteristics of human walking on sand. Gait simulation of the robot for human walking on sand is achieved.
基金Project(51275102)supported by the National Natural Science Foundation of ChinaProject(159070220011)supported by the Science and Technology Innovative Research Programs Foundation of Harbin city,ChinaProject(HEUCF110702)supported by the Fundamental Research Funds for the Central Universities of China
文摘To solve the problem of sealing between the barrel and the rubber ring of shell body during an launching process of aerodynamic extinguishing cannon, a rubber sealing model with bionic dimpled characteristics was established based on the theory of bionic dimpled drag reduction and the principle of rubber sealing. In condition that the bionic dimpled characteristic diameters were 1, 2, 3, 4, and 5 mm, respectively, by numerical simulation, the influence of the installing compression of the rubber sealing ring on its surface stress and deformation was analyzed, and sealing performance of the rubber ring with different diameters of bionic dimpled was studied. The results show that the deformation of rubber ring appears prominent nonlinear characteristics when compression is increased from 1.5 mm to 2.5 ram. When the compression is 2.5 mm, the equivalent compression stress on the sealing areas of both sides of the rubber seal is greater than the working pressure of aerodynamic extinguishing cannon, which could meet the sealing requirement and would not cause leakage. So the rubber sealing ring with bionic dimpled surface possesses a good sealing characteristic and has no negative effect on the sealing of shell body; When the compression is 2.5 mm, the larger equivalent stress on the edge of sealing ring and the more even stress distribution in the high pressure area are generated due to the smaller compressive stress on the bionic dimple areas, which lays a foundation for the drag reduction characteristics of the shell body＇s rubber ring with bionic dimpled surface.
基金Projects(51305091,51475101)supported by the National Natural Science Foundation of ChinaProject(20132304120025)supported by Specialized Research Fund for the Doctoral Program of Higher Education,China
文摘In order to present the microstructures of dynamic recrystallization(DRX) in different deformation zones of hot extruded NiTi shape memory alloy(SMA) pipe coupling,a simulation approach combining finite element method(FEM) with cellular automaton(CA) was developed and the relationship between the macroscopic field variables and the microscopic internal variables was established.The results show that there exists a great distinction among the microstructures in different zones of pipe coupling because deformation histories of these regions are diverse.Large plastic deformation may result in fine recrystallized grains,whereas the recrystallized grains may grow very substantially if there is a rigid translation during the deformation,even if the final plastic strain is very large.As a consequence,the deformation history has a significant influence on the evolution path of the DRX as well as the final microstructures of the DRX,including the morphology,the mean grain size and the recrystallization fraction.
基金Projects (51179038,51309067) supported by the National Natural Science Foundation of China
文摘The problem of diving control for an underactuated unmanned undersea vehicle(UUV) considering the presence of parameters perturbations and wave disturbances was addressesed.The vertical motion of an UUV was divided into two noninteracting subsystems for surge velocity control and diving.To stabilize the vertical motion system,the surge velocity and the depth control controllers were proposed using backstepping technology and an integral-fast terminal sliding mode control(IFTSMC).It is proven that the proposed control scheme can guarantee that all the error signals in the whole closed-loop system globally converge to the sliding surface in finite time and asymptotically converge to the origin along the sliding surface.With a unified control parameters for different motion states,a series of numerical simulation results illustrate the effectiveness of the above designed control scheme,which also shows strong robustness against parameters perturbations and wave disturbances.
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(51275102)supported by the National Natural Science Foundation of ChinaProject(HEUCF140713)supported by the Fundamental Research Funds for the Central Universities,China
文摘Based on the biological prototype characteristics of shark’s gill jet orifice,the flexible driving characteristics of ionic exchange polymer metal composites(IPMC)artificial muscle materials and the use of sleeve flexible connector,the IPMC linear driving unit simulation model is built and the IPMC material-driving dynamic control structure of bionic gill unit is developed.Meanwhile,through the stress analysis of bionic gill plate and the motion simulation of bionic gill unit,it is verified that various dynamic control and active control of the jet orifice under the condition of different mainstream field velocities will be taken by using IPMC material-driving.Moreover,the large-deflection deformation of bionic gill plate under dynamic pressure and the comparative analysis with that of a rigid gill plate is studied,leading to the achievement of approximate revised modifier from real value to theoretical value of the displacement control of IPMC.
基金This work is supported by the National Natural Science Foundation of China research grant#51679056Natural Science Foundation of Heilongjiang Province of China grant#E2016024.
文摘This paper describes a design optimization study of the composite egg-shaped submersible pressure hull employing optimization and finite element analysis(FEA)tools as a first attempt to provide an optimized design of the composite egg-shaped pressure hull for manufacturing or further investigations.A total of 15 optimal designs for the composite egg-shaped pressure hull under hydrostatic pressure are obtained in terms of fibers’angles and the number of layers for 5 lay-up arrangements and 3 unidirectional(UD)composite materials.The optimization process is performed utilizing a genetic algorithm and FEA in ANSYS.The minimization of the buoyancy factor eB:FT is selected as the objective for the optimization under constraints on both material failure and buckling strength.Nonlinear buckling analysis is conducted for one optimal design considering both geometric nonlinearity and imperfections.A sensitivity study is also conducted to further investigate the influence of the design variables on the optimal design of the egg-shaped pressure hull.
基金Project (E201216) supported by Heilongjiang Provincial Natural Science Foundation,China
文摘Collective pitch control and individual pitch control algorithms were present for straight-bladed vertical axis wind turbine to improve the self-starting capacity.Comparative analysis of straight-bladed vertical axis wind turbine(SB-VAWT) with or without pitch control was conducted from the aspects of aerodynamic force,flow structure and power coefficient.The computational fluid dynamics(CFD) prediction results show a significant increase in power coefficient for SB-VAWT with pitch control.According to the aerodynamic forces and total torque coefficient obtained at various tip speed ratios(TSRs),the results indicate that the blade pitch method can increase the power output and decrease the deformation of blade;especially,the total torque coefficient of blade pitch control at TSR 1.5 is about 2.5 times larger than that of fixed pitch case.Furthermore,experiment was carried out to verify the feasibility of pitch control methods.The results show that the present collective pitch control and individual pitch control methods can improve the self-starting capacity of SB-VAWT,and the former is much better and its proper operating TSRs ranges from 0.4 to 0.6.
基金Project(61175128) supported by the National Natural Science Foundation of ChinaProject(2008AA040203) supported by the National High Technology Research and Development Program of ChinaProject(QC2010009) supported by the Natural Science Foundation of Heilongjiang Province,China
文摘In order to mitigate the effects of space adaptation syndrome(SAS) and improve the training efficiency of the astronauts, a novel astronaut rehabilitative training robot(ART) was proposed. ART can help the astronauts to carry out the bench press training in the microgravity environment. Firstly, a dynamic model of cable driven unit(CDU) was established whose accuracy was verified through the model identification. Secondly, to improve the accuracy and the speed of the active loading, an active loading hybrid force controller was proposed on the basis of the dynamic model of the CDU. Finally, the actual effect of the hybrid force controller was tested by simulations and experiments. The results suggest that the hybrid force controller can significantly improve the precision and the dynamic performance of the active loading with the maximum phase lag of the active loading being 9° and the maximum amplitude error being 2% at the frequency range of 10 Hz. The controller can meet the design requirements.
基金Project(HEUCF110707)supported by the Fundamental Research Funds for the Central Universities,ChinaProject(E201216)supported by Heilongjiang Natural Science Fund,China
文摘Wind energy is one of the most promising renewable energy sources, straight-bladed vertical axis wind turbine(S-VAWT) appears to be particularly promising for the shortage of fossil fuel reserves owing to its distinct advantages, but suffers from poor self-starting and low power coefficient. Variable-pitch method was recognized as an attractive solution to performance improvement, thus majority efforts had been devoted into blade pitch angle effect on aerodynamic performance. Taken into account the local flow field of S-VAWT, mathematical model was built to analyze the relationship between power outputs and pitch angle. Numerical simulations on static and dynamic performances of blade were carried out and optimized pitch angle along the rotor were presented. Comparative analyses of fixed pitch and variable-pitch S-VAWT were conducted, and a considerable improvement of the performance was obtained by the optimized blade pitch angle, in particular, a relative increase of the power coefficient by more than 19.3%. It is further demonstrated that the self-starting is greatly improved with the optimized blade pitch angle.
文摘To test the magnetic signals leaked from the surface of specimens during loading, the experiments of the static tensile of medium carbon 45# steel were carried out. The results show that the magnetic field strength values rapidly vary when the load began, and the curves of the magnetic field strength change from irregularity to regularity with the increase of the load. Furthermore, by comparing with the state of on-line testing, it is found that the magnetic signals of out-of-line testing has more practicability. In the course of loading, though the dots of passing zero of the magnetic field strength continually changed their positions and quantities, the last rupture places were always approached by the dots of passing zero since the elastic loading phase. Some certain relations should exist between external stress and changing of magnetic signals inside the material, and correlative explanation is made based on dislocation theory and the mechanism of magnetic domain action, which provides the basis for further research of magnetic memory.
基金Project(51409061)supported by the National Natural Science Foundation of ChinaProject(2013M540271)supported by China Postdoctoral Science Foundation+1 种基金Project(LBH-Z13055)Supported by Heilongjiang Postdoctoral Financial Assistance,ChinaProject(HEUCFD1403)supported by Basic Research Foundation of Central Universities,China
文摘The trajectory tracking control problem for underactuated unmanned surface vehicles(USV) was addressed, and the control system took account of the uncertain influences induced by model perturbation, external disturbance, etc. By introducing the reference, trajectory was generated by a virtual USV, and the error equation of trajectory tracking for USV was obtained, which transformed the tracking problem of underactuated USV into the stabilization problem of the trajectory tracking error equation. A backstepping adaptive sliding mode controller was proposed based on backstepping technology and method of dynamic slide model control. By means of theoretical analysis, it is proved that the proposed controller ensures that the solutions of closed loop system have the ultimate boundedness property. Simulation results are presented to illustrate the effectiveness of the proposed controller.
基金Project(61175128) supported by the National Natural Science Foundation of ChinaProject(2008AA040203) supported by the National High Technology Research and Development Program of China
文摘Walking is the most basic and essential part of the activities of daily living. To enable the elderly and non-ambulatory gait-impaired patients, the repetitive practice of this task, a novel gait training robot(GTR) was designed followed the end-effector principle, and an active partial body weight support(PBWS) system was introduced to facilitate successful gait training. For successful establishment of a walking gait on the GTR with PBWS, the motion laws of the GTR were planned to enable the phase distribution relationships of the cycle step, and the center of gravity(COG) trajectory of the human body during gait training on the GTR was measured. A coordinated control strategy was proposed based on the impedance control principle. A robotic prototype was developed as a platform for evaluating the design concepts and control strategies. Preliminary gait training with a healthy subject was implemented by the robotic-assisted gait training system and the experimental results are encouraging.
基金Project(50905037) supported by the National Natural Science Foundation of ChinaProject(20092304120014) supported by Specialized Research Fund for the Doctoral Program of Higher Education of China+2 种基金 Project(20100471021) supported by the China Postdoctoral Science Foundation Project(LBH-Q09134) supported by Heilongjiang Postdoctoral Science-Research Foundation,China Project (HEUFT09013) supported by the Foundation of Harbin Engineering University,China
文摘The electro-hydraulic servo system was studied to cancel the amplitude attenuation and phase delay of its sinusoidal response,by developing a network using normalized least-mean-square (LMS) adaptive filtering algorithm.The command input was corrected by weights to generate the desired input for the algorithm,and the feedback was brought into the feedback correction,whose output was the weighted feedback.The weights of the normalized LMS adaptive filtering algorithm were updated on-line according to the estimation error between the desired input and the weighted feedback.Thus,the updated weights were copied to the input correction.The estimation error was forced to zero by the normalized LMS adaptive filtering algorithm such that the weighted feedback was equal to the desired input,making the feedback track the command.The above concept was used as a basis for the development of amplitude phase control.The method has good real-time performance without estimating the system model.The simulation and experiment results show that the proposed amplitude phase control can efficiently cancel the amplitude attenuation and phase delay with high precision.
基金Project(51409061)supported by the National Natural Science Foundation of ChinaProject(2013M540271)supported by China Postdoctoral Science Foundation+1 种基金Project(LBH-Z13055)supported by Heilongjiang Postdoctoral Financial Assistance,ChinaProject(HEUCFD1403)supported by Basic Research Foundation of Central Universities,China
文摘The path following problem for an underactuated unmanned surface vehicle(USV) in the Serret-Frenet frame is addressed. The control system takes account of the uncertain influence induced by model perturbation, external disturbance, etc. By introducing the Serret-Frenet frame and global coordinate transformation, the control problem of underactuated system(a nonlinear system with single-input and ternate-output) is transformed into the control problem of actuated system(a single-input and single-output nonlinear system), which simplifies the controller design. A backstepping adaptive sliding mode controller(BADSMC)is proposed based on backstepping design technique, adaptive method and theory of dynamic slide model control(DSMC). Then, it is proven that the state of closed loop system is globally stabilized to the desired configuration with the proposed controller. Simulation results are presented to illustrate the effectiveness of the proposed controller.
基金Project(52275363)supported by the National Natural Science Foundation of ChinaProject(202203021212242)supported by the Fundamental Research Program of Shanxi Province,China。
