Precise Compound Control of Loading Force for Electric Load Simulator of Electric Power Steering Test Bench

Electric load simulator(ELS) systems are employed for electric power steering(EPS) test benches to load rack force by precise control. Precise ELS control is strongly influenced by nonlinear factors. When the steering motor rapidly rotates, extra force is directly superimposed on the original static loading error, which becomes one of the main sources of the final error. It is key to achieve ELS precise loading control for the entire EPS test bench. Therefore, a three-part compound control algorithm is proposed to improve the loading accuracy. First, a fuzzy proportional–integral plus feedforward controller with force feedback is presented. Second, a friction compensation algorithm is established to reduce the influence of friction. Then, the relationships between each quantity and the extra force are analyzed when the steering motor rapidly rotates, and a net torque feedforward compensation algorithm is proposed to eliminate the extra force. The compound control algorithm was verified through simulations and experiments. The results show that the tracking performance of the compound control algorithm satisfies the demands of engineering practice, and the extra force in the ELS system can be suppressed by the net torque corresponding to the actuator’s acceleration.

Multi-dimensional force sensor for haptic interaction:a review

Haptic interaction plays an important role in the virtual reality technology,which let a person not only view the 3D virtual environment but also realistically touch the virtual environment.As a key part of haptic interaction,force feedback has become an essential function for the haptic interaction.Therefore,multi-dimensional force sensors are widely used in the fields of virtual reality and augmented reality.In this paper,some conventional multi-dimensional force sensors based on different measurement principles,such as resistive,capacitive,piezoelectric,are briefly introduced.Then the mechanical structures of the elastic body of multi-dimensional force sensors are reviewed.It is obvious that the performance of the multi-dimensional force sensor is mainly dependent upon the mechanical structure of elastic body.Furthermore,the calibration process of the force sensor is analyzed,and problems in calibration are discussed.Interdimensional coupling error is one of the main factors affecting the measurement precision of the multi-dimensional force sensors.Therefore,reducing or even eliminating dimensional coupling error becomes a fundamental requirement in the design of multi-dimensional force sensors,and the decoupling state-of-art of the multi-dimensional force sensors are introduced in this paper.At last,the trends and current challenges of multi-dimensional force sensing technology are proposed.

Multi-Channel Force Control System for Static Loading

An eight-channel force loading system is presented, which adopts position control system and force control system switching model, small flow servo valve controlled capacious cylinder system scheme, intelligent PID algorithm and distributed load approach. Through the analyses of the equivalent model of valve controlled cylinder force subsystem, a controller based on intelligent PID algorithm is designed, which is not sensitive to the variation of parameters such as environmental stiffness. According to the coupling of multiple load channels, a distributed load approach is employed in the superior monitor computer. Experimental results show that the system designed has high precision and robustness.

Generation of electromotive force in igneous rocks subjected to non-uniform loading

When one end of an air-dry igneous rock block was uniaxially loaded in laboratory, there appeared an electromotive force that made electric currents flow from the stressed volume to the unstressed volume. Quartz-free rocks such as gabbro also generated this force, stronger than quartz-bearing rocks such as granite. This indicates that the piezoelectric effect of quartz and the electrokinetic effect of pore water do not make a large contribution toward generating the electromotive force. We focus on peroxy bond that is one of the abundant lattice defects in igneous rock-forming minerals. When mechanical loading deforms the lattice structure around this defect and breaks its bond, its energy levels change and act like an accepter. As an electron is trapped at this defect from a neighbor 02- site, a positive hole is activated there. They attempt to diffuse toward the unstressed volume through the valence band and are simultaneously affected by the attractive electric force with the electrons trapped in peroxy bonds. This leads to a polarization in the stressed volume and the generation of electromotive force between the stressed and unstressed volumes. Similar electromotive force may be generated in the Earth＇s crust where inhomogeneous stress/strain is changing.

Analysis of Force Transmission by a Knee Loading Device from Skin and Soft Tissue to Knee Joint Elements

Dynamic loading to a knee joint is considered to be an effective modality for enhancing the healing of long bones and cartilage that are subject to ailments like fractures, osteoarthritis, etc. We developed a knee loading device and tested it for force application. The device applies forces on the skin, whereas force transmitted to the knee joint elements is directly responsible for promoting the healing of bone and cartilage. However, it is not well understood how loads on the skin are transmitted to the cartilage, ligaments, and bone. Based on a CAD model of a human knee joint, we conducted a finite element analysis (FEA) for force transmission from the skin and soft tissue to a knee joint. In this study, 3D models of human knee joint elements were assembled in an FEA software package (SIMSOLID). A wide range of forces was applied to the skin with different thickness in order to obtain approximate force values transmitted from the skin to the joint elements. The maximum Von Mises stress and displacement distributions were estimated for different components of the knee joint. The results demonstrate that the high load bearing areas were located on the posterior portion of the cartilage. This prediction can be used to improve the design of the knee loading device.

Influence of scanning force microscope loading force on measurement of ion-track diameter

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Response Spectrum Method for Extreme Wave Loading With Higher Order Components of Drag Force

反应系列修理近海极端波浪影响的结构基于更高的顺序部件被调查非线性拖力量。这样，当一个团属于轻伸臂柱体，他们的相应变丑反应系列被利用自由系统的概括的单个度估计，钢夹克衫平台被简化。基于在波斯湾区域记录的波浪数据，相应于不同回来时期的极端波浪装载条件被施加在上近海结构。因此， drag 力量的更高的顺序部件的效果被考虑，与为不同的海的线性化的状态相比，表面铺平。什么时候基本时期近海结构是波浪装载的大约三分之一个主要时期，结果显示线性化拖学期不能够完成一个可靠变丑反应系列。

Force Control Compensation Method with Variable Load Stiffness and Damping of the Hydraulic Drive Unit Force Control System

Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit（HDU）, and the contacting between the robot foot end and the ground is complex and variable, which increases the difficulty of force control inevitably. In the recent years, although many scholars researched some control methods such as disturbance rejection control, parameter self-adaptive control, impedance control and so on, to improve the force control performance of HDU, the robustness of the force control still needs improving. Therefore, how to simulate the complex and variable load characteristics of the environment structure and how to ensure HDU having excellent force control performance with the complex and variable load characteristics are key issues to be solved in this paper. The force control system mathematic model of HDU is established by the mechanism modeling method, and the theoretical models of a novel force control compensation method and a load characteristics simulation method under different environment structures are derived, considering the dynamic characteristics of the load stiffness and the load damping under different environment structures. Then, simulation effects of the variable load stiffness and load damping under the step and sinusoidal load force are analyzed experimentally on the HDU force control performance test platform, which provides the foundation for the force control compensation experiment research. In addition, the optimized PID control parameters are designed to make the HDU have better force control performance with suitable load stiffness and load damping, under which the force control compensation method is introduced, and the robustness of the force control system with several constant load characteristics and the variable load characteristics respectively are comparatively analyzed by experiment. The research results indicate that if the load characteristics are known, the force control compensation method presented in this paper has positive compensation effects on the load characteristics variation, i.e., this method decreases the effects of the load characteristics variation on the force control performance and enhances the force control system robustness with the constant PID parameters, thereby, the online PID parameters tuning control method which is complex needs not be adopted. All the above research provides theoretical and experimental foundation for the force control method of the quadruped robot joints with high robustness.

Transverse Vibration and Stability Analysis of Circular Plate Subjected to Follower Force and Thermal Load

Transverse vibration and stability analysis of circular plate subjected to follower force and thermal load are analyzed.Based on the thin plate theory in involving the variable temperature,the differential equation of transverse vibration for the axisymmetric circular plate subjected to follower force and thermal load is established.Then,the differential equation of vibration and corresponding boundary conditions are discretized by the differential quadrature method.Meanwhile,the generalized eigenvalue under three different boundary conditions are calculated.In this case,the change curve of the first order dimensionless complex frequency of the circular plate subjected to the follower force in the different conditions with the variable temperature coefficient and temperature load is analyzed.The stability and corresponding critical loads of the circular plate subjected to follower force and thermal load with simply supported edge,clamped edge and free edge are discussed.The results provide theoretical basis for improving the dynamic stability of the circular plate.

Theoretical study of the nonlinear force-loading control in single-molecule stretching experiments

Force spectrum measurements with constant loading rates are widely used in single-molecule manipulation experiments to study the mechanical stability and force response of biomolecules.Force-dependent transition rates can be obtained from the transition force distribution,but it is limited to the force range with non-zero force distribution.Although constant loading rate control can be realized with magnetic tweezers,the loading rate range is limited due to the slow movement of permanent magnets.Non-linear exponential and exponential squared force loading functions are more feasible in magnetic tweezers,while there is no theoretical result available for these two kinds of non-linear force loading functions.In this study,we solved the unfolding process of a protein following Bell's model under nonlinear exponential and exponential squared force loading functions,which offer a broader range of unfolding force distribution compared to the traditional constant loading rate experiments.Furthermore,we derived two force loading functions,which can produce uniform unfolding force distribution.This research contributes fundamental equations for the analysis of experimental data obtained through single-molecule manipulation under nonlinear force loading controls,paving the way for the use of nonlinear force control in magnetic tweezer experiments.

ITERATIVE COMPUTATION METHOD FOR NONLINEAR FORCED VIBRATION EQUATION ON HELICOPTER MAIN ROTOR LOAD

An iterative computation method for nonlinear forced vibration equationon helicopter blade aerodynamic load is given. Initial load of blade is calculated by sup-posing that down-wash flow is determined, and then flapping-torsional elasticdeformation is ca

Structural System to Resist Seismic Loads on High Rise Reinforced Concrete Structures

The forces of nature represent the biggest challenge for engineering work in general and perhaps the most prominent of these forces. This generated by earthquake where engineering structure is exposed abnormal loads and stresses which places areal burden on structural engineers to find solutions and structural systems to increase resistance and effectiveness of engineering structure especially high rise concrete structures.

Maximum Force of Inclined Pullout of A Torpedo Anchor in Cohesive Beds

Torpedo anchors have been used in mooring systems for deep-water oil and gas projects owing to their prominent advantages, such as low cost and easy installation. The maximum force of torpedo anchors is crucial not only to the safety and stability of vessels and other marine facilities, but also for an economical design. It is necessary to develop reliable formula for fast predicting their maximum inclined force of a torpedo anchor in cohesive beds. In this study, the maximum inclined force of a torpedo anchor vertically embedded in cohesive beds was extensively investigated. 316 sets of inclined pullout laboratory tests were carried out for 9 differently shaped torpedo anchors which were vertically embedded in different cohesive beds. The loading curves were automatically acquisitioned and their characteristics were analyzed. The load angle relative to the horizontal varied from 20° to 90°. A new formula for fast calculating the maximum inclined force of the torpedo anchor vertically embedded in cohesive beds was obtained based on force analysis and a nonlinear regression on the data from the present and other studies. Effect aspects on the tests are discussed and further studies are highlighted.

Cumulative Deformation of Soft Clay Under Cyclic Loading

Reconstituted specimens are prepared by means of vacuum preloading. Both static and cyclic triaxial tests are carried out, with the specimens consolidated under different principal stress ratios. A finite element method is put forward for calculating the cumulative deformation of soft clay under cyclic loading.

Dynamic behavior of single-layer latticed cylindrical shells subjected to seismic loading

The single-layer latticed cylindrical shell is one of the most widely adopted space-fl'amed structures.In this paper,free vibration properties and dynamic response to horizontal and vertical seismic waves of single-layer latticed cylindrical shells are analyzed by the finite element method using ANSYS software.In the numerical study,where hundreds of cases were analyzed,the parameters considered included rise-span ratio,length-span ratio,surface load and member section size.Moreover,to better define the actual behavior of single-layer latticed shells,the study is focused on the dynamic stress response to both axial forces and bending moments.Based on the numerical results,the effects of the parameters considered on the stresses are discussed and a modified seismic force coefficient method is suggested.In addition,some advice based on these research results is presented to help in the future design of such structures.

Test Study on Current Force on Mooring Ships

In respect of an offshore berthing pillar, the test study result of current force acting on mooring ships is described in this paper. Empirical and semi-empirical relationships of current force coefficient are given according to the angle between the flow direction and the ship's longitudinal axis, which are coincident with the result of theoretical analysis.

Reaction Forces on a Fixed Ladder in Static Equilibrium: Analysis and Definitive Experimental Test of the Ladder Problem

The development of a theoretical model to predict the four equilibrium forces of reaction on a simple ladder of non-adjustable length leaning against a wall has long remained an unresolved matter. The difficulty is that the problem is statically indeterminate and therefore requires complementary information to obtain a unique solution. This paper reports 1) a comprehensive theoretical analysis of the three fundamental models based on treating the ladder as a single Euler-Bernoulli beam, and 2) a detailed experimental investigation of the forces of reaction as a function of applied load and location of load. In contrast to previous untested proposals that the solution to the ladder problem lay in the axial constraint on compression or the transverse constraint on flexure, the experimental outcome of the present work showed unambiguously that 1) the ladder could be modeled the best by a pinned support at the base (on the ground) and a roller support at the top (at the wall), and 2) the only complementary relation needed to resolve the static indeterminacy is the force of friction at the wall. Measurements were also made on the impact loading of a ladder by rapid ascent and descent of a climber. The results obtained were consistent with a simple dynamical model of the ladder as a linear elastic medium subject to a pulse perturbation. The solution to the ladder problem herein presented provides a basis for theoretical extension to other types of ladders. Of particular importance, given that accidents involving ladders in the workplace comprise a significant fraction of all industrial accidents, the theoretical relations reported here can help determine whether a collapsed structure, against which a ladder was applied, met regulatory safety limits or not.

The Material Deformation and Internal Structure Development of Granular Materials under Different Cyclic Loadings

Common structures in engineering such as slopes,roadbeds,ballasts,etc.,are closely related to granular materials.They are usually subjected to long-term cyclic loads.This study mainly focused on the mechanical behaviors of randomly arranged granular materials before they reach a stable state under different cyclic loads.The variation of the maximum axial strain and the influence of CSR(cyclic stress ratio)were analyzed.The energy consumed in each cycle under constant confining stress loading condition is significantly greater than that of the fixed wall loading condition.The internal deformation evolution of granular materials is studied in detail.The deformation mode of granular material under cyclic loading at different positions inside the material is different according to the strain variation.In addition,the strain,force chain structure and contact force magnitude are combined to explore their effects on local deformation of granular materials under cyclic loading.From the perspective of the deformation form,the material sample can be divided into several regions,and the ability to adjust particle positions determines the deformation mode of different regions.The changes of local strain with the cyclic loading also reflect the contribution of particle displacements to the evolution ofmicrostructure.This research will provide insights into the understanding of granular materials behaviors under cyclic loading.

Experimental study on characteristic curves of restoring forces of Populus alba var. pyramidalis

Static tests under cyclic loading were carried out on Populus alba var. pyramidalis to determine its characteristic curves of restoring forces. The results show that P alba var. pyramidalis had good elastic performance. There was degradation of strength and stiffness under cyclic loading and unloading, where characteristic curves of restoring forces ofP. alba var. pyrarnidalis assumed a ＂flat and contrary S-shape＂ form. Simultaneously, P alba vat. pyramidalis showed typical characteristics of brittle destruction under large high peak loading and unloading. Furthermore, dynamic tests were carried out under wind loads to obtain dynamic displacement curves and dynamic strain curves. P alba var. pyramidalis reflected its stochastic dynamic performance in building up its resistance to the stochastic wind loads and its dynamically hysteretic properties. The dynamic response of this species was random and fuzzy under stochastic wind loads. This study has theoretical significance and reference value to research on the static characteristics and wind-induced dynamic performance of forests.

NON-LINEAR DYNAMIC BEHAVIOR OF THERMOELASTIC CIRCULAR PLATE WITH VARYING THICKNESS SUBJECTED TO NONCONSERVATIVE LOADING

The non-linear dynamic behaviors of thermoelastic circular plate with varying thickness subjected to radially uniformly distributed follower forces are considered. Two coupled non-linear differential equations of motion for this problem are derived in terms of the transverse deflection and radial displacement component of the mid-plane of the plate. Using the Kantorovich averaging method, the differential equation of mode shape of the plate is derived, and the eigenvalue problem is solved by using shooting method. The eigencurves for frequencies and critical loads of the circular plate with unmovable simply supported edge and clamped edge are obtained. The effects of the variation of thickness and temperature on the frequencies and critical loads of the thermoelastic circular plate subjected to radially uniformly distributed follower forces are then discussed.