Simulation of large-scale numerical substructure in real-time dynamic hybrid testing

A solution scheme is proposed in this paper for an existing RTDHT system to simulate large-scale finite element （FE） numerical substructures. The analysis of the FE numerical substructure is split into response analysis and signal generation tasks, and executed in two different target computers in real-time. One target computer implements the response analysis task, wherein a large time-step is used to solve the FE substructure, and another target computer implements the signal generation task, wherein an interpolation program is used to generate control signals in a small time-step to meet the input demand of the controller. By using this strategy, the scale of the FE numerical substructure simulation may be increased significantly. The proposed scheme is initially verified by two FE numerical substructure models with 98 and 1240 degrees of freedom （DOFs）. Thereafter, RTDHTs of a single frame-foundation structure are implemented where the foundation, considered as the numerical substructure, is simulated by the FE model with 1240 DOFs. Good agreements between the results of the RTDHT and those from the FE analysis in ABAQUS are obtained.

Study on the Effect of Multi-Type Current Transformers Hybrid Operation on Differential Protection of the Bus Based on Dynamic Simulation

This paper analyzes characteristics of multi type current transformers hybrid operation for each branch of the bus and their effects on differential protection of the bus. By theoretically analyzing transmission characteristics of multi type current transformers and their influence factors, we study the dynamic model testing method of multi type current transformers for the bus, and design 3 kinds of testing schemes by making the equivalent model based on the field of P-level current transformer, TPY-level current transformer and electronic current transformer, and build the hybrid operation testing platform of multi type current transformers. Finally, we compare and analyze the transmission characteristics difference of multi type current transformers on the same branch and the characteristics difference of hybrid operation in two successive external faults, analyze the cause behind the differences, and put forward the corresponding improvement measures.

Dynamic phasor-based hybrid simulation for multi-inverter grid-connected system

To realize the efficient transient simulation of a grid-connected power generation system based on multiple inverters, this paper proposes a hybrid simulation method integrating the models of electromagnetic transient and dynamic phasors. Based on a demonstration of the concepts and properties of dynamic phasors, the models of single-phase and three-phase inverters described by dynamic phasors are established first. Considering the numerical compatibility problem between dynamic phasors and instantaneous values, an interface scheme between dynamic phasors and instantaneous values is designed, and the efficiency and precision differences of various transformation methods are compared in detail.Finally, by utilizing MATLAB/Simulink, a hybrid simulation platform of a multi-inverter grid-connected system is built, and the efficiency and accuracy of the hybrid simulation are validated via comparison with the full electromagnetic transient simulation.

Model-based framework for multi-axial real-time hybrid simulation testing

Real-time hybrid simulation is an efficient and cost-effective dynamic testing technique for performance evaluation of structural systems subjected to earthquake loading with rate-dependent behavior. A loading assembly with multiple actuators is required to impose realistic boundary conditions on physical specimens. However, such a testing system is expected to exhibit significant dynamic coupling of the actuators and suffer from time lags that are associated with the dynamics of the servo-hydraulic system, as well as control-structure interaction （CSI）. One approach to reducing experimental errors considers a multi-input, multi-output （MIMO） controller design, yielding accurate reference tracking and noise rejection. In this paper, a framework for multi-axial real-time hybrid simulation （maRTHS） testing is presented. The methodology employs a real-time feedback-feedforward controller for multiple actuators commanded in Cartesian coordinates. Kinematic transformations between actuator space and Cartesian space are derived for all six-degrees-of- freedom of the moving platform. Then, a frequency domain identification technique is used to develop an accurate MIMO transfer function of the system. Further, a Cartesian-domain model-based feedforward-feedback controller is implemented for time lag compensation and to increase the robustness of the reference tracking for given model uncertainty. The framework is implemented using the 1/5th-scale Load and Boundary Condition Box （LBCB） located at the University of Illinois at Urbana- Champaign. To demonstrate the efficacy of the proposed methodology, a single-story frame subjected to earthquake loading is tested. One of the columns in the fraane is represented physically in the laboratory as a cantilevered steel column. For real- time execution, the numerical substructure, kinematic transformations, and controllers are implemented on a digital signal processor. Results show excellent performance of the maRTHS framework when six-degrees-of-freedom are controUed at the interface between substructures.

Real-time hybrid simulation for structural control performance assessment

Real-time hybrid simulation is an attractive method to evaluate the response of structures under earthquake loads. The method is a variation of the pseudodynamic testing technique in which the experiment is executed in real time, thus allowing investigation of structural systems with rate-dependent components. Real-time hybrid simulation is challenging because it requires performance of all calculations, application of displacements, and acquisition of measured forces, within a very small increment of time. Furthermore, unless appropriate compensation for actuator dynamics is implemented, stability problems are likely to occur during the experiment. This paper presents an approach for real-time hybrid simulation in which compensation for actuator dynamics is implemented using a model-based feedforward compensator. The method is used to evaluate the response of a semi-active control of a structure employing an MR damper. Experimental results show good agreement with the predicted responses, demonstrating the effectiveness of the method for structural control performance assessment.

Dynamics of 3-DOF Hybrid Robot Manipulator

This paper introduces a 3-dof hybrid robotic manipulator which is constructed by combining a parallel mechanism and a pantograph to increase stiffness as well as workspace. And by analyzing its kinematics and dynamics with Lagrange’s method, the dynamic model is obtained which is essential for feed-forward control of the manipulator. An explicit solution is given out. Finally, a simulation test is carried out on computers.

A comprehensive fluid-solid coupling dynamic simulation for spatiotemporal distribution of regression rate in hybrid rocket motors

The spatiotemporal distribution characteristics of the regression rate are crucial aspects of the research on Hybrid Rocket Motor(HRM). This study presents a pioneering effort in achieving a comprehensive numerical simulation of fluid dynamics and heat transfer in both the fluid and solid regions throughout the entire operation of an HRM. To accomplish this, a dynamic grid technique that incorporates fluid–solid coupling is utilized. To validate the precision of the numerical simulations, a firing test is conducted, with embedded thermocouple probes being used to measure the inner temperature of the fuel grain. The temperature variations in the solid fuel obtained from both experiment and simulations show good agreement. The maximum combustion temperature and average thrust obtained from the simulations are found to deviate from the experimental results by only 3.3% and 2.4%, respectively. Thus, it can be demonstrated that transient numerical simulations accurately capture the fluid–solid coupling characteristics and transient regression rate. The dynamic simulation results of inner flow field and solid region throughout the entire working stage reveal that the presence of vortices enhances the blending of combustion gases and improves the regression rate at both the front and rear ends of the fuel grain. In addition, oscillations of the regression rate obtained in the simulation can also be well corresponded with the corrugated surface observed in the experiment. Furthermore, the zero-dimension regression rate formula and the formula describing the axial location dependence of the regression rate are fitted from the simulation results, with the corresponding coefficients of determination(R^(2)) of 0.9765 and 0.9298, respectively.This research serves as a reference for predicting the performance of HRM with gas oxygen and polyethylene, and presents a credible way for investigating the spatiotemporal distribution of the regression rate.

Advanced extended-term simulation approach with flexible quas-isteady-state and dynamic semi-analytical simulation engines

Power system simulations that extend over a time period of minutes,hours,or even longer are called extendedterm simulations.As power systems evolve into complex systems with increasing interdependencies and richer dynamic behaviors across a wide range of timescales,extendedterm simulation is needed for many power system analysis tasks(e.g.,resilience analysis,renewable energy integration,cascading failures),and there is an urgent need for efficient and robust extendedterm simulation approaches.The conventional approaches are insufficient for dealing with the extendedterm simulation of multitimescale processes.This paper proposes an extendedterm simulation approach based on the semianalytical simulation(SAS)methodology.Its accuracy and computational efficiency are backed by SAS's high accuracy in eventdriven simulation,larger and adaptive time steps,and flexible switching between fulldynamic and quasisteadystate(QSS)models.We used this proposed extendedterm simulation approach to evaluate bulk power system restoration plans,and it demonstrates satisfactory accuracy and efficiency in this complex simulation task.

Numerical Simulation of PMM Tests for A Ship in Close Proximity to Sidewall and Maneuvering Stability Analysis

As the maneuverability of a ship navigating close to a bank is influenced by the sidewall, the assessment of ship maneuvering stability is important. The hydrodynamic derivatives measured by the planar motion mechanism （PMM） test provide a way to predict the change of ship maneuverability. This paper presents a numerical simulation of PMM model tests with variant distances to a vertical bank by using unsteady RANS equations. A hybrid dynamic mesh technique is developed to realize the mesh configuration and remeshing of dynamic PMM tests when the ship is close to the bank. The proposed method is validated by comparing numerical results with results of PMM tests in a circulating water channel. The first-order hydrodynamic derivatives of the ship are analyzed from the time history of lateral force and yaw moment according to the multiple-run simulating procedure and the variations of hydrodynamic derivatives with the ship-sidewall distance are given. The straight line stability and directional stability are also discussed and stable or unstable zone of proportional-derivative （PD） controller parameters for directional stability is shown, which can be a reference for course keeping operation when sailing near a bank.

Improved dynamic testing by impedance control

In this paper, the issue of actuator-structure interaction in dynamic testing of structures is considered. The problem is approached from the novel standpoint of impedance control. It is shown that an effective strategy to design controls for dynamic testing is by designing the test system impedance. It is also shown that this can be achieved using feedforward compensation. The analysis is carried out in the context of displacement controlled dynamic testing, when the tested structure has a high and nonlinear stiffness. It is demonstrated that stable and accurate dynamic testing can be achieved using the proposed strategy, when this is not possible using traditional feedback control techniques. Furthermore, the impedance control and feedforward strategies are applied in the context of hybrid simulation, a technique of coupling computational and physical substructures applied in earthquake engineering. Here, a delay compensation scheme is necessary in addition to feedforward. Experimental results are presented that demonstrate both improved dynamic testing performance when impedance control is employed, and its applicability in hybrid simulation.

Thermal conductivity of carbon nanoring linked graphene sheets:A molecular dynamics investigation

Improving the thermal conduction across graphene sheets is of great importance for their applications in thermal management. In this paper, thermal transport across a hybrid structure lbrmed by two graphene nanoribbons and carbon nanorings （CNRs） was investigated by molecular dynamics simulations. The effects of linker diameter, number, and height on thermal conductivity of the CNRs-graphene hybrid structures were studied respectively, and the CNRs were found effective in transmitting the phonon modes of GNRs. The hybrid structure with 2 linkers showed the highest thermal conductivity of 68.8 W·m^-1·K^-1. Our work presents important insight into fundamental principles governing the thermal conduction across CNR junctions and provides useful guideline for designing CNR-graphene structure with superior thermal conductivity.

Motion Analysis and Trials of the Deep Sea Hybrid Underwater Glider Petrel-Ⅱ

A hybrid underwater glider Petrel-II has been developed and field tested. It is equipped with an active buoyancy unit and a compact propeller unit. Its working modes have been expanded to buoyancy driven gliding and propeller driven level-flight, which can make the glider work in strong currents, as well as many other complicated ocean environments. Its maximal gliding speed reaches 1 knot and the propelling speed is up to 3 knots. In this paper, a 3D dynamic model of Petrel-II is derived using linear momentum and angular momentum equations. According to the dynamic model, the spiral motion in the underwater space is simulated for the gliding mode. Similarly the cycle motion on water surface and the depth-keeping motion underwater are simulated for the level-flight mode. These simulations are important to the performance analysis and parameter optimization for the Petrel-II underwater glider. The simulation results show a good agreement with field trials.

Hardware-in-the-loop simulation for the contact dynamic process of flying objects in space

In the one-gravity environment on the ground, the simulation of the contact process of two flying objects in the zero-gravity environment of space has been a challenging issue since humans first explored space by flying objects. Hardware-in-the-loop （HIL） simulation is an important and effective method to test the usability, reliability, and safety of real docking mechanisms in space. There are four main issues for HIL simulation systems： Design of simulators capable of high frequency response, high motion precision, high velocity, and rapid acceleration; compensation for simulation distortion; design of a control model for the HIL simulation process; and experimental verification. Here, we propose a novel HIL simulator system with a 6-DOF 3-3 perpendicular parallel mechanism and a 3-DOF 3-PRS parallel mechanism; discover the principle of simulation distortion; present distortion compensation models for the force measurement system, dynamic response, and structural dynamics of the simulator; and provide a control model for the HIL simulation process. Two kinds of experiments were performed on the pas- sive-undamped elastic rod and the docking mechanisms to test their performances and to verify the effectiveness and usability of the HIL simulator. The HIL simulation system proposed in this paper is useful for developing space docking, berthing, refu- eling, repairing, upgrading, transporting, and rescuing technologies.

Design of Underwater Robot Lines Based on a Hybrid Automatic Optimization Strategy

In this paper, a hybrid automatic optimization strategy is proposed for the design of underwater robot lines. Isight is introduced as an integration platform. The construction of this platform is based on the user programming and several commercial software including UG6.0, GAMBIT2.4.6 and FLUENT12.0. An intelligent parameter optimization method, the particle swarm optimization, is incorporated into the platform. To verify the strategy proposed, a simulation is conducted on the underwater robot model 5470, which originates from the DTRC SUBOFF project. With the automatic optimization platform, the minimal resistance is taken as the optimization goal;the wet surface area as the constraint condition; the length of the fore-body, maximum body radius and after-body＇s minimum radius as the design variables. With the CFD calculation, the RANS equations and the standard turbulence model are used for direct numerical simulation. By analyses of the simulation results, it is concluded that the platform is of high efficiency and feasibility. Through the platform, a variety of schemes for the design of the lines are generated and the optimal solution is achieved. The combination of the intelligent optimization algorithm and the numerical simulation ensures a global optimal solution and improves the efficiency of the searching solutions.

基于Simulink建模的插电式混合动力汽车动力学仿真

文章以现有混合动力总成为研究对象,提出一种插电式混合动力汽车动力系统构建方法,通过对力学模型的计算分析,利用Simulink软件建立并联式插电混合动力汽车驱动电机、发动机等主要部件的转速、扭矩模块及动力学模型,进行新欧洲驾驶周期(NEDC)工况和匀加速工况仿真分析,验证了所设计的插电式混合动力汽车动力系统的可行性,本设计充分利用外界电能输入,采用限制发动机工作区间的控制策略,发动机辅助动力输出前提下驱动发电机发电,增加电动汽车续航里程,同时有效降低汽车油耗和污染物排放,达到节能减排的目的。

基于Simulink的混联式混合动力汽车动力系统建模

为科学、有效地对混联式混合动力汽车动力系统进行建模,以比亚迪“秦”电动汽车为例进行仿真设计.在MATLAB/Simulink中使用正向模拟方法构建动力系统模型,采用ECE+EUDC道路循环工况模型对其进行经济性分析.仿真结果表明,城市道路工况百公里耗油3.8 L,具备较高的燃油经济性,仿真结果与实车数据基本一致.

香蕉采摘与吊运作业机器人运动与动力性能分析

由于香蕉果串的结果高度和果形尺寸较大,且采摘过程极易发生损伤,给其采摘带来极高难度,目前仍停留在比较落后的人工采摘方式上,劳动强度大。为此,提出了一种香蕉采摘与吊运作业机器人,可将香蕉果柄的切割、夹持和香蕉果串的吊放作业整体性完成,其机械系统主要由伺服连杆机械臂、夹持与切割末端执行器和液压履带行走动力单元等部分组成。工作时,末端执行器夹持与切割香蕉果柄的直径范围为40~150mm,液压履带车行走的最大行走速度为1.07m/s。通过基于ADAMS的机械系统运动和动力学仿真分析获得了伺服连杆机械臂的作业范围,以香蕉按照宽窄行宜机化种植模式为基础,对接近实际情况的伺服驱动作业流程进行了仿真研究,验证了各伺服电机的驱动能力。

基于动态模拟技术的混动车辆发动机电控单元检测系统设计

电控单元是混动车辆发动机中的重要组成部分,对于发动机以及混动车辆的行驶性能产生直接影响,为保证电控单元的运行正常,利用动态模拟技术,优化设计了混动车辆发动机电控单元检测系统;改装温度、转速等传感器设备以及信号处理器设备,调整系统电路的连接方式,实现硬件系统的优化;利用动态模拟技术模拟混动车辆发动机电控过程,结合不同故障类型下电控单元的运行特征,设置系统的检测标准;采集电控单元输出信号,从时域和频域两个方面提取信号特征,最终通过特征匹配确定电控单元状态、故障类型以及故障位置,实现系统的电控单元检测功能;综合混动车辆发动机的3种运行场景,通过系统测试实验得出结论:与传统检测系统相比,优化设计系统的漏检率和误检率分别降低了2.59%和2.05%,由此证明优化设计系统具有良好的检测功能。

Numerical Calculation and Experiment of Coupled Dynamics of the Differential Velocity Vane Pump Driven by the Hybrid Higher-order Fourier Non-circular Gears

The transmission systems of the differential velocity vane pumps （DVVP） have periodic vibrations under loads. And it is not easy to find the reason. In order to optimize the performance of the pump, the authors proposed DVVP driven by the hybrid Higher-order Fourier non-circular gears and tested it. There were also simi- lar periodic vibrations and noises under loads. Taking into account this phenomenon, the paper proposes fluid mechanics and solid mechanics simulation methodology to analyze the coupling dynamics between fluid and transmission system and reveals the reason. The results show that the pump has the reverse drive phenomenon, which is that the blades drive the non-circular gears when the suction and discharge is alternating. The reverse drive phenomenon leads the sign of the shaft torque to be changed in positive and negative way. So the transmis- sion system produces torsional vibrations. In order to confirm the simulation results, micro strains of the input shaft of the pump impeller are measured by the Wheatstone bridge and wireless sensor technology. The relation- ships between strain and torque are obtained by experimental calibration, and then the （rue torque of input shaft is calculated indirectly. The experimental results are consistent to the simulation results. It is proven that the peri- odic vibrations are mainly caused by fluid solid coupling, which leads to periodic torsional vibration of the trans- mission system.

Transient simulation of regression rate on thrust regulation process in hybrid rocket motor

The main goal of this paper is to study the characteristics of regression rate of solid grain during thrust regulation process. For this purpose, an unsteady numerical model of regression rate is established. Gas–solid coupling is considered between the solid grain surface and combustion gas.Dynamic mesh is used to simulate the regression process of the solid fuel surface. Based on this model, numerical simulations on a H2O2/HTPB（hydroxyl-terminated polybutadiene） hybrid motor have been performed in the flow control process. The simulation results show that under the step change of the oxidizer mass flow rate condition, the regression rate cannot reach a stable value instantly because the flow field requires a short time period to adjust. The regression rate increases with the linear gain of oxidizer mass flow rate, and has a higher slope than the relative inlet function of oxidizer flow rate. A shorter regulation time can cause a higher regression rate during regulation process. The results also show that transient calculation can better simulate the instantaneous regression rate in the operation process.