Controller design based on viscoelasticity dynamics model and experiment for flexible drive unit

In order to ensure that the system has the advantage of light weight and vibration absorption, the steel rope is used as a flexible transmission part. A flexible drive unit(FDU) is developed, whose features are guided by steel rope, increasing force by the movable pulley group, modular, convenient and flexible. Dynamics model for controller is deduced based on the constitutive equation of viscoelasticity. Controller is designed for position control and is based on the viscoelasticity dynamics model compensation control strategy proposed. The control system is based on the TURBO PMAC multi-axis motion control card.Prototype loading experiments and velocity experiments results show that the FDU can reach 2 Hz with no load and the max speed of 30(°)/s. The FDU has the capability of the load torque 11.2 N·m and the speed of 24(°)/s simultaneously, and the frequency response is 1.3 Hz. The FDU can be used to be the pitch joint of hip for biped robot whose walking speed is 0.144 km/h theoretically.

Dynamics of mechanical system for electromechanical integrated toroidal drive under electric disturbance

Based on electromagnetics and mechanics, electromechanical coupled dynamic equations for the drive were developed. Using method of perturbation, free vibrations of the mechanical system under electric disturbance were investigated. The forced responses of the mechanical system to mechanical excitation under electric disturbance were also presented. It is known that for the system with electric disturbance, as time grows, beat occurs. When electric disturbing frequency is near to the natural frequencies of the mechanical system or their integer multiple, resonance vibrations occur. The forced responses of the mechanical system to mechanical excitation under electric disturbance are compound vibrations decided by mechanical excitation, electric disturbance and parameters of the system. The coupled resonance vibration caused by electric disturbance and mechanical excitation was discussed as well. The conditions under which above coupled resonance occurs were presented. The results show that when the difference of the excitation frequency and the perturbation frequency is equal to some order of natural frequency, coupled resonance vibrations occur.

Spatiotemporal Dynamics of Coastal Wetlands and Reclamation in the Yangtze Estuary During Past 50 Years(1960s–2015)

Reclamation is one of the fastest-growing land use type developed in coastal areas and has caused degradation and loss of coastal wetlands as well as serious environmental problems. This paper was aimed at monitoring the spatiotemporal patterns of coastal wetlands and reclamation in the Yangtze Estuary during the 1960s and 2015. Satellite images obtained from 1980 to 2015 and topography maps of the 1960 s were employed to extract changes of reclamation and coastal wetlands. Area-weight centroids were calculated to identify the movement trend of reclamation and coastal wetlands. The results show that from the 1960 s to 2015, the net area of natural wetlands declined by 574.3 km^2, while man-made wetlands and reclamation increased by 553.6 and 543.9 km^2, respectively. During the five study phases, the fastest areal change rate natural wetlands was –13.3 km^2/yr in the period of 1990–2000, and that of man-made areas was 24.7 km^2/yr in the same period, and the areal change rate of reclamation was 27.6 km^2/yr in the period of 2000–2010. Conversion of coastal wetlands mainly occurred in the Chongming Island, Changshu City and the east coast of Shanghai Municipality. Reclamation was common across coastal areas, and was mainly attributed to settlement and man-made wetlands in the Chongming Island, Lianyungang City and the east coast of Shanghai Municipality. Natural wetlands turned into farmlands and settlement, and man-made wetlands gained from reclamation of farmlands. The centroid of natural wetlands generally moved towards the sea, man-made wetlands expanded equally in all directions and inland, and the centroid of reclamation migrated toward Shanghai Municipality. Sea level rise, erosion-deposition changes, and reclamation activities together determine the dynamics of the Yangtze Estuary wetlands. However, reclamation activities for construction of ports, industries and aquaculture are the key causes for the dynamics. The results from this study on the dynamics of coastal wetlands and reclamation are valuable for local government to put forward sustainable land use and land development plans.

A Review on the Development of Vehicle Driving Simulator

With the development of the economy, cars have become the common means of transportation for people, and the safety issues related to this and the new technologies are being taken seriously. Vehicle driving simulator, as a kind of simulation equipment, is mostly used in the research, experiment and development of new technology enterprises, meanwhile, it also can realize simulation of car running performance, driving training, and make users get real driving experience. In this paper, present development situation at home and abroad of vehicle driving simulator, and the species, composition and working principle of vehicle driving simulator are introduced and teviewed. Based on vehicle driving simulator ＂driver-vehicle-road environment＂ in the simulation environment, the dynamic simulation of virtual driving system, visual simulation system, driving simulation of ABS and ESP control were analyzed.