Dynamic Modeling and Experimental Verification of an RPR Type Compliant Paralle Mechanism with Low Orders

Efficiency of calculating a dynamic response is an important point of the compliant mechanism for posture adjustment.Dynamic modeling with low orders of a 2R1T compliant parallel mechanism is studied in the paper.The mechanism with two out-of-plane rotational and one lifting degrees of freedom(DoFs)plays an important role in posture adjustment.Based on elastic beam theory,the stiffness matrix and mass matrix of the beam element are established where the moment of inertia is considered.To improve solving efficiency,a dynamic model with low orders of the mechanism is established based on a modified modal synthesis method.Firstly,each branch of the RPR type mechanism is divided into a substructure.Subsequently,a set of hypothetical modes of each substructure is obtained based on the C-B method.Finally,dynamic equation of the whole mechanism is established by the substructure assembly.A dynamic experiment is conducted to verify the dynamic characteristics of the compliant mechanism.

Theoretical and experimental investigation of the resonance responses and chaotic dynamics of a bistable laminated composite shell in the dynamic snap-through mode

The dynamic model of a bistable laminated composite shell simply supported by four corners is further developed to investigate the resonance responses and chaotic behaviors.The existence of the 1:1 resonance relationship between two order vibration modes of the system is verified.The resonance response of this class of bistable structures in the dynamic snap-through mode is investigated,and the four-dimensional(4D)nonlinear modulation equations are derived based on the 1:1 internal resonance relationship by means of the multiple scales method.The Hopf bifurcation and instability interval of the amplitude frequency and force amplitude curves are analyzed.The discussion focuses on investigating the effects of key parameters,e.g.,excitation amplitude,damping coefficient,and detuning parameters,on the resonance responses.The numerical simulations show that the foundation excitation and the degree of coupling between the vibration modes exert a substantial effect on the chaotic dynamics of the system.Furthermore,the significant motions under particular excitation conditions are visualized by bifurcation diagrams,time histories,phase portraits,three-dimensional(3D)phase portraits,and Poincare maps.Finally,the vibration experiment is carried out to study the amplitude frequency responses and bifurcation characteristics for the bistable laminated composite shell,yielding results that are qualitatively consistent with the theoretical results.

Experimental investigation of dynamic stall flow control using a microsecond-pulsed plasma actuator

To alleviate the performance deterioration caused by dynamic stall of a wind turbine airfoil,the flow control by a microsecond-pulsed dielectric barrier discharge(MP-DBD) actuator on the dynamic stall of a periodically pitching NACA0012 airfoil was investigated experimentally.Unsteady pressure measurements with high temporal accuracy were employed in this study,and the unsteady characteristics of the boundary layer were investigated by wavelet packet analysis and the moving root mean square method based on the acquired pressure.The experimental Mach number was 0.2,and the chord-based Reynolds number was 870 000.The dimensionless actuation frequencies F+ were chosen to be 0.5,1,2,and 3,respectively.For the light dynamic regime,the MP-DBD plasma actuator plays the role of suppressing flow separation from the trial edge and accelerating the flow reattachment due to the high-momentum freestream flow being entrained into the boundary layer.Meanwhile,actuation effects were promoted with the increasing dimensionless actuation frequency F+.The control effects of the deep dynamic stall were to delay the onset and reduce the strength of the dynamic stall vortex due to the accumulating vorticity near the leading edge being removed by the induced coherent vortex structures.The laminar fluctuation and Kelvin-Helmholtz(K-H) instabilities of transition and relaminarization were also mitigated by the MP-DBD actuation,and the alleviated K-H rolls led to the delay of the transition onset and earlier laminar reattachment,which improved the hysteresis effect of the dynamic stall.For the controlled cases of F+=2,and F+=3,the laminar fluctuation was replaced by relatively low frequency band disturbances corresponding to the harmonic responses of the MP-DBD actuation frequency.

Theoretical and Experimental Study on the Performance of Hermetic Diaphragm Squeeze Film Dampers for Gas-Lubricated Bearings

Low damping characteristics have always been a key sticking points in the development of gas bearings.The application of squeeze film dampers can significantly improve the damping performance of gas lubricated bearings.This paper proposed a novel hermetic diaphragm squeeze film damper(HDSFD)for oil-free turbomachinery supported by gas lubricated bearings.Several types of HDSFDs with symmetrical structure were proposed for good damping performance.By considering the compressibility of the damper fluid,based on hydraulic fluid mechanics theory,a dynamic model of HDSFDs under medium is proposed,which successfully reflects the frequency dependence of force coefficients.Based on the dynamic model,the effects of damper fluid viscosity,bulk modulus of damper fluid,thickness of damper fluid film and plunger thickness on the dynamic stiffness and damping of HDSFDs were analyzed.An experimental test rig was assembled and series of experimental studies on HDSFDs were conducted.The damper fluid transverse flow is added to the existing HDSFD concept,which aims to make the dynamic force coefficients independent of frequency.Although the force coefficient is still frequency dependent,the damping coefficient at high frequency excitation with damper fluid supply twice as that without damper fluid supply.The results serve as a benchmark for the calibration of analytical tools under development.

Theoretical and experimental investigations on an X-shaped vibration isolator with active controlled variable stiffness

A novel X-shaped variable stiffness vibration isolator(X-VSVI)is proposed.The Runge-Kutta method,harmonic balance method,and wavelet transform spectra are introduced to evaluate the performance of the X-VSVI under various excitations.The layer number,the installation angle of the X-shaped structure,the stiffness,and the active control parameters are systematically analyzed.In addition,a prototype of the X-VSVI is manufactured,and vibration tests are carried out.The results show that the proposed X-VSVI has a superior adaptability to that of a traditional X-shaped mechanism,and shows excellent vibration isolation performance in response to different amplitudes and forms of excitations.Moreover,the vibration isolation efficiency of the device can be improved by appropriate adjustment of parameters.

A Train-Bridge Dynamic Interaction Analysis Method and Its Experimental Validation

The train-bridge dynamic interaction problem began with the development of railway technology, and requires an evaluation method for bridge design in order to ensure the safety and stability of the bridge and the running train. This problem is studied using theoretical analysis, numerical simulation, and experimental study. In the train-bridge dynamic interaction system proposed in this paper, the train vehicle model is established by the rigid-body dynamics method, the bridge model is established by the finite element method, and the wheel/rail vertical and lateral interaction are simulated by the corresponding assumption and the Kalker linear creep theory, respectively. Track irregularity, structure deformation, wind load, collision load, structural damage, foundation scouring, and earthquake action are regarded as the excitation for the system. The train-bridge dynamic interaction system is solved by inter-history iteration. A case study of the dynamic response of a CRH380BL high-speed train running through a standard-design bridge in China is discussed. The dynamic responses of the vehicle and of the bridge subsystems are obtained for speeds ranging from 200 km-b-1 to 400 km.h-1, and the vibration mechanism are analyzed.

Dynamic simulation and experimental study of inspection robot for high-voltage transmission-line

A mobile robot developed by Wuhan University for full-path hotline inspection on 220 kV transmission lines was presented. With 4 rotating joints and 2 translational ones, such robot is capable of traveling along non- obstaclestraight-line segment and surmounting straight-line segment obstacles as well as transferring between two spans automatically. Lagrange’s equations were utilized to derive dynamic equations of all the links, including items of inertia, coupling inertia, Coriolis acceleration, centripetal acceleration and gravity. And a dynamic response experiment on elemental motions of robot prototype’s travelling along non-obstacle straight-line segment and surmounting obstacles was performed on 220 kV 1∶1 simulative overhanging transmission-line in laboratory. In addition, dynamic numerical simulation was conducted in the corresponding condition. Comparison and analysis on results of experiment and numerical simulation have validated theoretical model and simulation resolution. Therefore, the dynamic model formed hereunder can be used for the study of robot control.

Experimental Study on Free Spanning Submarine Pipeline Under Dynamic Excitation

Seismic load has a significant effect on the response of a free spanning submarine pipeline when the pipeline is constructed in a seismically active region. The model experiment is performed on an underwater shaking table to simulate the response of submarine pipelines under dynamic input. In consideration of the effects of the terrestrial and submarine pipeline, water depth, support condition, distance from seabed, empty and full pipeline, and span on dynamic response, 120 groups of experiments are conducted. Affecting factors are analyzed and conclusions are drawn for reference. For the control of dynamic response, the span of a submarine pipeline is by far more important than the other factors. Meanwhile, the rosponse difference between a submarine pipeline under sine excitation and that under random excitation exists in experiments.

Dynamic experimental study on rock meso-cracks growth by digital image processing technique

A new meso-mechanical testing scheme based on SEM was developed to carry out the experiment of microfracturing process of rocks. The microfracturing process of the pre-crack marble sample on surrounding rock in the immerged Long-big tunnel in Jinping Cascade II Hydropower Station under uniaxial compression was recorded by using the testing scheme. According to the stereology theory, the propagation and coalescent of cracks at meso-scale were quantitatively investigated with digital technology. Therefore, the basic geometric information of rock microcracks such as area, angle, length, width, perimeter, was obtained from binary images after segmentation. The failure mechanism of specimen under uniaxial compression with the quantitative information was studied from macro and microscopic point of view. The results show that the image of microfracturing process of the specimen can be observed and recorded digitally. During the damage of the specimen, the distribution of microcracks in the specimen is still subjected to exponential distribution with some microcracks concentrated in certain regions. Finally, the change law of the fractal dimension of the local element in marble sample under different external load conditions is obtained by means of the statistical calculation of the fractal dimension.

Partition method and experimental validation for impact dynamics of flexible multibody system

The impact problem of a flexible multibody system is a non-smooth, high-transient, and strong-nonlinear dynamic process with variable boundary. How to model the contact/impact process accurately and efficiently is one of the main difficulties in many engineering applications. The numerical approaches being used widely in impact analysis are mainly from two fields： multibody system dynamics （MBS） and computational solid mechanics （CSM）. Approaches based on MBS provide a more efficient yet less accurate analysis of the contact/impact problems, while approaches based on CSM are well suited for particularly high accuracy needs, yet require very high computational effort. To bridge the gap between accuracy and efficiency in the dynamic simulation of a flexible multibody system with contacts/impacts, a partition method is presented considering that the contact body is divided into two parts, an impact region and a non-impact region. The impact region is modeled using the finite element method to guarantee the local accuracy, while the non-impact region is modeled using the modal reduction approach to raise the global efficiency. A three-dimensional rod-plate impact experiment is designed and performed to validate the numerical results. The principle for how to partition the contact bodies is proposed： the maximum radius of the impact region can be estimated by an analytical method, and the modal truncation orders of the non-impact region can be estimated by the highest frequency of the signal measured. The simulation results using the presented method are in good agreement with the experimental results. It shows that this method is an effec-rive formulation considering both accuracy and efficiency. Moreover, a more complicated multibody impact problem of a crank slider mechanism is investigated to strengthen this conclusion.

An experimental research of dynamic characteristics for long wall shearer cutting unit gearbox in oblique cutting

Oblique cutting is a working condition in fully mechanized mining whose function is making it possible for coal shearer to cut coal wall.Coal shearer often exhibit large vibration amplitudes in oblique cutting since the shearer is forced to be bent.In this study,dynamic behavior in oblique cutting for the coal shearer cutting unit gearbox(SCUG)is investigated experimentally based on National Coal Mining Equipment Laboratory of China.A new long wall mining test set-up consists of a test coal shearer and other auxiliary machines is developed for operating long wall coal mining process.Realistic oblique cutting process is developed,and vibration response will be more accurate since both cutting loads and test machine in this experiment are realistic.A data-acquisition system consisting of sensors,channel conditioner and computer is developed to capture three-dimensional vibratory accelerations.A test matrix which included various combinations of key cutting load parameters is executed under realistic oblique cutting loads within a wide parameter range to establish database.Experimental data is analyzed in time,domain and time-frequency domains for investigating the rules of dynamic behavior for SCUG.Beat vibration phenomenon and the coupling of gear mesh frequencies are found in experiment,resulting in local resonance and reduce fatigue life of SCUG.The influence of cutting load on beat phenomenon and frequency coupling is demonstrated at the end,and some conclusions are obtained.

DYNAMIC FRICTION:Ⅰ.EXPERIMENTAL OBSERVATIONS OF ROCK FRICTION

Dynamic friction is a critical process of crustal earthquake ruptures. Recent experimenta1 and theoretica1 progress in rock friction have demonstrated that most continental earthquakes are associated with stick-slip in the brittle field of the crust and that only dynamic instability with fast slip is related to seismicity. Dynamic stability will be influenced by frictional parameters a-b, a, stiffness K, characteristic displacement L, slip rate history (velocity weakening), normal stress history (pressure strengthening), and temperature, which is described by the frictional constitutive laws. Velocity-weakening (a-b<0) can cause dynamic instability if the medium stiffness is below the critical stiffness (X/Kc<1), while velocity-strengthening enhances the frictional stability.The most recent experimental evidence of rock friction will be systematically reviewed in this paper.

Experimental studies of focal mechanism based on the dynamic process of energy release

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AN EXPERIMENTAL STUDY ON DYNAMIC FRACTURE SPEED

This paper deals with an experimental study on dynamic fracture speed of three point bending specimen and cylindrical specimen made of epoxy resin by means of silver conductive painting grid. According to the test results ,the relations between fracture load ,fracture speed and loading speed are discussed and the features of final fracture surfaces are analysed in detail.

An Experimental Investigation on the Dynamic Behavior of Step Motor Drives

Step motors, compared to other drive systems, are low-cost and easy to use devices. However, despite these undeniable advantages, they are characterized by some critical running conditions, due to the loss of synchronization between the stator＇s magnetic field and the rotor. In order to theoretically investigate such a behavior, several complex mathematical models have been developed, which require several parameters to be defined. For most step motors, such parameters cannot be easily drawn from their data-sheets; on the contrary, in this paper the authors refer to a simplified electro-mechanical model where the most of the parameters are known from data-sheets. The dependence between electrical and mechanical quantities can be investigated by an experimental point of view. At this aim, a specific novel test rig has been designed and developed for either static or dynamic characteristics measurement of small size step motors. In particular, the test rig allow to measure rotor＇s angular position, motor＇s torque, currents flowing in the motor＇s phases. The paper ends with the report of the results of several experimental tests, carried-out on a small-size motor in different running conditions, and with some preliminary remarks on the basis of the measures analysis.

Dynamic experiments on flocculation and sedimentation of argillized ultrafine tailings using fly-ash-based magnetic coagulant

In order to accelerate the sedimentation of super-large-scale argillized ultrafine tailings with bad features such as low settling velocity, muddy overflow water, and large flocculant dosage, a fly-ash-based magnetic coagulant （FAMC） was used in a dynamic experimental device. To obtain the best possible combination of the impact factors （magnetic intensity, FAMC dosage, flocculant dosage, and feed speed） for minimum overflow turbidity, a response surface methodology test coupled with a four-factor five-level central composite design was conducted. The synergy mechanism of FAMC and flocculant was analyzed based on the potential measurement and scanning electron microscopy. The results show that the flocculant dosage, overflow turbidity, and solid content can be reduced by 50%, 90%, and 80%, while the handling capacity per unit and efficiency of backfill and dry stacking can be promoted by 20%, 17%, and 13%, respectively, with a magnetic intensity of 0.3 T, FAMC dosage of 200 mL/t, flocculant dosage of 30 g/t, and feed speed of 0.6 t/（m^2·h）. Therefore, synergy of FAMC and flocculant has obvious efficiency in saving energy and protecting the environment by allowing 70×10^6 t/a of argillized ultrafine tailings slurry to be disposed safely and efficiently with a cost saving of more than 53×106 Yuan/a, which gives it great promise for use in domestic and foreign mines.

Quantitative investigation of multi-fracture morphology during TPDF through true tri-axial fracturing experiments and CT scanning

Due to the reservoir heterogeneity and the stress shadow effect, multiple hydraulic fractures within one fracturing segment cannot be initiated simultaneously and propagate evenly, which will cause a low effectiveness of reservoir stimulation. Temporary plugging and diverting fracturing(TPDF) is considered to be a potential uniform-stimulation method for creating multiple fractures simultaneously in the oilfield. However, the multi-fracture propagation morphology during TPDF is not clear now. The purpose of this study is to quantitatively investigate the multi-fracture propagation morphology during TPDF through true tri-axial fracturing experiments and CT scanning. Critical parameters such as fracture spacing, number of perforation clusters, the viscosity of fracturing fluid, and the in-situ stress have been investigated. The fracture geometry before and after diversion have been quantitively analyzed based on the two-dimensional CT slices and three-dimensional reconstruction method. The main conclusions are as follows:(1) When injecting the high viscosity fluid or perforating at the location with low in-situ stress, multiple hydraulic fractures would simultaneously propagate. Otherwise, only one hydraulic fracture was created during the initial fracturing stage(IFS) for most tests.(2) The perforation cluster effectiveness(PCE) has increased from 26.62% during the IFS to 88.86% after using diverters.(3) The diverted fracture volume has no apparent correlation with the pressure peak and peak frequency during the diversion fracturing stage(DFS) but is positively correlated with water-work.(4) Four types of plugging behavior in shale could be controlled by adjusting the diverter recipe and diverter injection time, and the plugging behavior includes plugging the natural fracture in the wellbore, plugging the previous hydraulic fractures, plugging the fracture tip and plugging the bedding.

Dynamic impact experiment and response characteristics analysis for 1:2 reduced-scale model of hydraulic support

It is significant to research the impact resistance properties of hydraulic support due to its key support role in the fully mechanized mining face.However,it is difficult for the entire hydraulic support to implement the impact experiment underground and analyze the response characteristic.Therefore,a dynamic impact experiment for the entire hydraulic support was proposed in this paper,where a 1:2 reducedscale model of hydraulic support was designed and its response characteristics under dynamic impact load were analyzed.Firstly,a comprehensive monitoring scheme was proposed to achieve an effective monitoring for dynamic response of hydraulic support.Secondly,a multi-scale impact experiment was carried out for the entire hydraulic support and dynamic behaviors of hydraulic support under the multi-scale impact load were revealed by experimental data.Then a dynamic impact experiment of the entire hydraulic support was simulated in ADAMS with the same experiment conditions,and the experimental and simulation data were verified mutually.Finally,the characteristics of energy conversion and dissipation of the entire experiment system after impact were analyzed.The experiment results showed that the impact resistance properties of hydraulic support largely depended on the initial support conditions and different vertical rigidities affected energy distribution proportion of the entire support system.

NUMERICAL EXPERIMENTS ON MULTI-LEVEL STATISTICAL ESTIMATION OF DYNAMIC BALANCE CONSTRAINTS IN GRAPES-3DVAR

This paper further explores the estimating and expressing of dynamic balance constraints using statistical methods in GRAPES-3DVAR(Version GM). Unlike the single-level scheme which only considers the coupling between mass and wind at one level, the multi-level scheme considers the coupling between their vertical profiles and calculates the balanced mass field at each layer using the rotational wind at all model levels. A reformed ridge regression method is used in the new scheme to avoid the multicollinearity problem and reduce the noises caused by unbalanced mesoscale disturbances. The results of numerical experiments show that the new scheme can get more reasonable vertical mass field, reduce the magnitude of the adjustment by the initialization, and improve the potential temperature analysis performance. Furthermore, the results of forecast verification in January(winter) and July(summer) both confirm that the new scheme can significantly improve the temperature forecast accuracy and bring slight positive effects to the pressure and wind forecast.

Experiment Study of Dynamics Response for Wind Turbine System of Floating Foundation

The floating foundation is designed to support a 1.5 MW wind turbine in 30 m water depth. With consideration of the viscous damping of foundation and heave plates, the amplitude-frequency response characteristics of the foundation are studied. By taking into account the elastic effect of blades and tower, the classic quasi-steady blade-element/momentum（BEM） theory is used to calculate the aerodynamic elastic loads. A coupled dynamic model of the turbine-foundationmooring lines is established to calculate the motion response of floating foundation under Kaimal wind spectrum and regular wave by using the FAST codes. The model experiment is carried out to test damping characteristics and natural motion behaviors of the wind turbine system. The dynamics response is tested by considering only waves and the joint action of wind and waves. It is shown that the wind turbine system can avoid resonances under the action of wind and waves. In addition, the heave motion of the floating foundation is induced by waves and the surge motion is induced by wind. The action of wind and waves is of significance for pitch.