基于参数估计-滑模阻抗控制的SEA性能分析

重载四足机器人的足部与地面接触过程和步态转换过程中会受到不确定的冲击载荷作用,易导致足部机构载荷过大从而造成结构的冲击损坏。因此,针对使用液压串联弹性执行器(series elastic actuators,SEA)作为足部末端在非结构环境下动态性能差的问题,提出了基于环境参数估计的滑模阻抗控制方法(environmental parameter estimation sliding mode,EPESM)。以阀控液压缸的活塞位移传递函数为基础建立了基于位置内环的SEA阻抗控制模型,并以PID作为基础控制器;为改善SEA阻抗控制的动态性能,根据Lyapunov第二法构建稳定的自适应环境参数估计方法对SEA期望位置进行前馈补偿;为提升自适应环境参数估计方法在SEA工作过程中不同阶段的动态性能和环境变化适应性,使用模糊控制方法对自适应环境参数估计方法中的自适应参数进行寻优;以SEA状态方程为基础构建滑模控制器与PID控制器进行动态性能对比分析。仿真结果表明:在变SEA弹簧刚度工况和变环境刚度下,EPESM阻抗控制的响应速度明显更快,可将调节时间从平均5 s缩短到1 s内,能更快地达到预期位移和预期接触力,且能略微降低稳态误差,使接触力误差保持在±6 N内。在动态跟踪工况下,EPESM阻抗控制的动态性能更好,在快速进入跟踪状态后,可以长时间保持0.2 s以内的相位滞后和5.2%的幅值误差。

考虑线路负载率指标规划-运行协调一致性的电网规划双层模型

随着新能源渗透率的提高,电力系统潮流的变化更加复杂,作为长期电力电量平衡的关键环节,电网规划的要求也逐渐提高。电网规划模型通常以网络传输容量上下限为约束,这可能出现某些线路长期处于重载运行的问题,增加了电力系统的安全隐患,因此在规划中需要关注负载率指标。考虑到在两阶段模型中添加年度统计指标约束会使所有场景耦合而无法有效反映系统实际运行情况的问题,分别设计了线路重载率约束以及改进直流潮流约束的线性形式,并建立了电网规划双层模型。上层问题为规划决策,用于制定规划方案,下层问题为运行模拟,用于对规划方案进行校核。相比两阶段模型,双层模型中的运行问题不会受到规划层约束的影响,能够真实反映规划方案下系统的运行情况。算例分析验证了规划中添加线路重载率约束的有效性以及双层模型结构的合理性。

SYNCHRONOUS EFFECT OF SLIPPING HEAVY LOADS ON RO-RO SHIP ROLLING IN WAVES

Common effect of wave and slip of internal vehicles will make rolling of the roll-on ship serious. This is one of the important reasons for overturn of ro-ro ships. The multibody system with a floating base is composed of ro-ro ship and slipping vehicles. Takes the rolling angle of the ship and the transverse displacements of the slipping vehicles on desk as freedoms. Making use of the analysis of apparent gravitation and apparent buoyancy, the wave rolling moment is derived. By means of dynamic method of multibody system, dynamic equations of the system are established. Taking a certain channel ferry as an example, a set of numerical calculation have been carried out for rolling response of the multibody system with a floating base of a ro-ro ship and displacements response of the slipping vehicles under common effect of free slipping vehicles and wave, and a conclusion has been drawn that the motion of the numerous free slipping heavy loads will trend to be synchronous under restraining of the side-wall bulkhead with time because of repeated collision.

Study on the Fuzzy Reliability of the Bearing in Planetary Transmission System for Heavy-Loaded Vehicles

Based on the fuzzy mathematics theory and reliability design methods, the fuzzy reliability of the rolling bearing in the planetary transmission system for heavy-loaded vehicles is analysed. The reliability and the fuzzy life expectancy of bearings in a practical planetary gear box are calculated in detail. The results show that the methods give a reference to the correct assessment of such type of bearing. Some measures to improve the reliability are also

基于CNN-LSTM的重型自卸车侧翻预警模型

为解决重型自卸车的侧翻预警问题,基于CNN-LSTM神经网络构造了重型自卸车的侧翻预警模型。利用Trucksim与MATLAB/Simulink搭建了重型自卸车仿真模型,以横向载荷转移率等于±0.85为侧翻阈值,提取了不同工况下的车辆运行参数,利用车辆运行参数,训练CNN-LSTM重型自卸车侧翻预警模型,并分别与基于CNN、LSTM搭建的预警模型对比。结果表明:CNN-LSTM重型自卸车侧翻预警模型预测准确率为98.31%;感受性曲线的曲线下面积为0.999,高于由单一神经网络所搭建的侧翻预警模型。

THEORETICAL PREDICTION OF SOUND RADIATION FROM A HEAVY FLUID-LOADED CYLINDRICAL COATED SHELL

A theoretical model is developed to predict the sound radiation ability of a cylindrical thin elastic shell of finite length, covered with a damp layer and terminated with infinite cylindrical rigid baffles. This shell is immersed in a heavy fluid extending up to infinity, and excited by a constant point load continuously traveling along the circumferential direction. A frequency-domain representation of the rotating load and three equations of the vibroacoustic coupling problem are given. The equations are solved by means of modal analysis method and asymptotic expansion method. Also, a mathematical expression of modal amplitude of shell radial displacement is obtained. The sound radiation ability of this kind of shell is evaluated and the corresponding numerical results are given.

早老素-1基因启动子区-48C/T位点多态性与LOAD的遗传相关性

目的 研究早老素 - 1基因启动子区 - 4 8C/T位点的多态性与迟发性AD(LOAD)的相关性。方法 用常规方法从人外周血白细胞中抽提基因组DNA ,PCR扩增出包含 - 4 8C/T多态性位点的基因片段 ,利用PCR -RFLP技术对 -4 8C/T多态性位点进行基因分型 ,χ2 检验分析 - 4 8C/T多态性位点基因型分布和等位基因频率。结果 以 33例AD病例和32例对照样品的外周血白细胞基因组DNA为模板 ,PCR扩增出了长度为 344bp的包含 - 4 8C/T多态性位点的基因片段。基因分型结果表明 ,33例散发型AD的C和T等位基因频率分别为 4 7%和 5 3% ,C/T和T/T基因型频率分别为 94 %和 6 %。而 32例正常对照的C和T等位基因频率分别为 4 8%和 5 2 % ,C/T和T/T基因型频率分别为 97%和 3%。χ2 检验结果显示 ,病例 -对照样品间C和T等位基因频率及C/C、C/T和T/T基因型的分布均无显著性差异 (χ2 值分别为 0 4 4 3和 0 318,P>0 .0 5 )。结论 在我们研究的群体中 ,早老素 - 1基因启动子区 - 4 8C/T位点的多态性与LOAD无显著的遗传相关性。

Performance analysis of air suspension system of heavy truck with semi-active fuzzy control

In order to analyze and evaluate the performance of the air suspension system of heavy trucks with semi-active fuzzy control, a three-dimensional nonlinear dynamical model of a typical heavy truck with 16-DOF（degree of freedom） is established based on Matlab/Simulink software. The weighted root-mean-square（RMS） acceleration responses of the vertical driver ＇s seat, the pitch and roll angle of the cab, and the dynamic load coefficient（DLC） are chosen as objective functions, and the air suspension system is optimized and analyzed by the semi-active fuzzy control algorithm when vehicles operate under different operation conditions. The results show that the influence of the roll angle of the cab on the heavy truck ride comfort is clear when vehicles move on the road surface conditions of the ISO level D and ISO level E at a velocity over 27.5 m/s. The weighted RMS acceleration responses of vertical driver＇ s seat, the pitch and roll angle of the cab are decreased by 24%, 30% and 25%, respectively,when vehicles move on the road surface condition of the ISO level B at a velocity of 20 m/s. The value of the DLC also significantly decreases when vehicles operate under different operation conditions. Particularly, the DLC value of the tractor driver axle is greatly reduced by 27.4% when the vehicle operates under a vehicle fully-loaded condition on the road surface condition of ISO level B at a velocity of 27.5 m/s.

Fatigue damage analysis of epoxy asphalt pavement for steel bridges considering coupled effects of heavy load and temperature variations

To investigate the fatigue damage of epoxy asphalt pavement(EAP)under a heavy load and a d temperature load,the load-figure of the heavy load on the steel bridge deck pavement(SBDP)was simulated first,and the temperature distribution of SBDP during the temperature-fall period in winter was also calculated.Secondly,t e moving heavy load coupled W t the most unfavorable temperatre load was applied to the SBDP,and the tensile stress on the top of SBDP was calculated.Finally,the fatigue damage of EAP was evaluated considering the extreme situation of heavily overloaded and severe environments.The results show that botte heavy load and the temperature load during t e temperature-fall period c n increase the tensile stress on the top of SBDP significantly.In the exteme situation of heavily overloaded and severe environments,a fatigue crack is easily generated,and thus the SBDP should avoid t e coupling effects of the heavy loadand the temperature load in winter.

Influence of Thermal Load on Mechanical Property of Cemented Carbide Material and Heavy Cemented Carbide Inserts Life

A large amount of cutting heat is produced during the heavy cutting process,and insert life is restricted by the effect of thermal load.The thermal load experiment of cemented carbide SCS,WF and YT15 is carried out,and the results show that the bending strength and fracture toughness of cemented carbide material decrease obviously under cyclic thermal load,while in the cooling process,the material mechanical property changes worse suddenly.The high-temperature mechanical property of SCS is the most stable,and that of YT15 is the worst.Further,a relation model among cutting temperature,cutting parameters and insert life is established.Finally,the measures to improve heavy cemented carbide inserts life are summarized from the aspects of cutting parameters selection,insert optimization design and TiCN,Al2O3,TiN complex insert coating.The research results are expected to provide support and reference for heavy cutting technology and insert technology.

Jet formation in shock-heavy gas bubble interaction

The influences of the acoustic impedance and shock strength on the jet formation in shock-heavy gas bubble interaction are numerically studied in this work. The process of a shock interacting with a krypton or a SF6 bubble is studied by the numerical method VAS2D. As a validation, the experiments of a SF6 bubble accelerated by a planar shock were performed. The results indicate that, due to the mismatch of acoustic impedance, the way of jet formation in heavy gas bubble with different species is diversified under the same initial condition. With respect to the same bubble, the manner of jet formation is also distinctly different under different shock strengths. The disparities of the acoustic impedance result in different effects of shock focusing in the bubble, and different behaviors of shock wave inside and outside the bubble. The analyses of the wave pattern and the pressure variation indicate that the jet formation is closely associated with the pressure perturbation. Moreover, the analy- sis of the vorticity deposition, and comparisons of circulation and baroclinic torque show that the baroclinic vorticity also contributes to the jet formation. It is concluded that the pres- sure perturbation and baroclinic vorticity deposition are the two dominant factors for the jet formation in shock-heavy gas bubble interaction.

0Cr18Ni9Ti-U71Mn摩擦副高速重载磨损行为的数值模拟

火箭橇是在专用轨道上利用火箭发动机作动力推动火箭滑车高速前进以获取试验测试数据的动态试验装备.火箭橇滑块在高速重载服役条件下的磨损严重威胁着火箭橇的可靠运行和服役安全,更是制约火箭橇发展和应用的技术瓶颈之一.本文作者基于Archard磨损模型和弹塑性变形理论,利用有限元开展了0Cr18Ni9Ti-U71Mn火箭橇摩擦副在高速重载下磨损行为的数值模拟.0Cr18Ni9Ti为火箭橇滑块,U71Mn为火箭橇滑轨,在模拟速度为300、340和380 m/s以及载荷为2、3和4 kN,模拟了高速重载下滑块磨损特性的演变过程.结果表明:增加载荷或速度均出现了前端效应,致使前端区域更容易发生磨损.增加载荷不利于磨损阶段从初始磨损向稳定磨损的转变,而增加速度却能够起到促进作用.随着载荷的增加,滑块的磨损深度随平均接触压力的增大而显著上升;但随着速度的增加,平均接触压力呈现下降趋势,滑块磨损深度缓慢增大.高速重载条件下,通过控制载荷可以有效减少火箭橇滑块的磨损,延长滑块的服役寿命.

Topology optimization of 3D structures with design-dependent loads

Topology optimization of continuum structures with design-dependent loads has long been a challenge. In this paper, the topology optimization of 3D structures subjected to design-dependent loads is investigated. A boundary search scheme is proposed for 3D problems, by means of which the load surface can be identified effectively and efficiently, and the difficulties arising in other approaches can be overcome. The load surfaces are made up of the boundaries of finite elements and the loads can be directly applied to corresponding element nodes, which leads to great convenience in the application of this method. Finally, the effectiveness and efficiency of the proposed method is validated by several numerical examples.

Numerical study on wave loads and motions of two ships advancing in waves by using three-dimensional translating-pulsating source

A frequency domain analysis method based on the three-dimensional translating-pulsating （3DTP） source Green function is developed to investigate wave loads and free motions of two ships advancing on parallel course in waves. Two experiments are carried out respectively to mea- sure the wave loads and the free motions for a pair of side-by- side arranged ship models advancing with an identical speed in head regular waves. For comparison, each model is also tested alone. Predictions obtained by the present solution are found in favorable agreement with the model tests and are more accurate than the traditional method based on the three dimensional pulsating （3DP） source Green function. Numer- ical resonances and peak shift can be found in the 3DP pre- dictions, which result from the wave energy trapped in the gap between two ships and the extremely inhomogeneous wave load distribution on each hull. However, they can be eliminated by 3DTP, in which the speed affects the free sur- face and most of the wave energy can be escaped from the gap. Both the experiment and the present prediction show that hydrodynamic interaction effects on wave loads and free motions are significant. The present solver may serve as a validated tool to predict wave loads and motions of two ves- sels under replenishment at sea, and may help to evaluate the hydrodynamic interaction effects on the ships safety in replenishment operation.

Effect of heavy load carriage on cardiorespiratory responses with varying gradients and modes of carriage

Background: The present study was undertaken to determine the effect of different uphill and downhill gradients on cardiorespiratory and metabolic responses of soldiers while carrying heavy military loads in two different modes.Methods: Eight physically fit male soldiers with a mean age 32.0±2.0 years, a mean height of 169.5±4.9 cm, and a mean weight of 63.8±8.4 kg volunteered for this study. Each volunteer completed treadmill walking trials at a speed of 3.5 km/h while carrying no external load, 31.4 kg load in a distributed mode(existing load carriage ensembles) and compact mode(new back pack) over 5 different downhill and uphill gradients(–5%, –10%, 0%, 5%, 10%) for 6 min at each gradient. During the walking trials, heart rate(HR), oxygen uptake(VO_2), respiratory frequency(RF) and energy expenditure(EE) were determined by the process of breath-by-breath gas analysis using a K4 b2 system. The average of the last 2 min data from each 6 min walking trial for each individual was subjected to statistical analysis.Results: All parameters(HR, VO_2, RF, and EE) gradually increased with the change in gradient from downhill to level to uphill. The distributed mode showed higher values compared to compact mode for all gradients, e.g., for VO_2, there was a 10.7, 7.4, 5.1, 28.2 and 18.7% increase in the distributed mode across the 5 different gradients.Conclusions: It can be concluded from the present study that the compact mode of load carriage is more beneficial than the distributed mode in terms of cardiorespiratory responses while walking on downhill and uphill surfaces with a 31.4 kg load.

Large deflections of non-prismatic nonlinearly elastic cantilever beams subjected to non-uniform continuous load and a concentrated load at the free end

This work studies large deflections of slen- der, non-prismatic cantilever beams subjected to a combined loading which consists of a non-uniformly distributed con- tinuous load and a concentrated load at the free end of the beam. The material of the cantilever is assumed to be non- linearly elastic. Different nonlinear relations between stress and strain in tensile and compressive domain are considered. The accuracy of numerical solutions is evaluated by com- paring them with results from previous studies and with a laboratory experiment.

Cost Impact of Increasing Heavy Vehicle Loads on Bridges

This study aimed to investigate the cost impact of meeting the increase in freight demand by doubling the truck weight （AS 1 ）, doubling the traffic volume （AS2）, or legalizing a new-proposed-truck of 97-kip weight instead of the currently legal 80-kip truck （AS3）. The State of Michigan＇s average daily traffic database of year 2001 has been used as a case study. The study was applied only on the very common US Bridge with RC （reinforced concrete） deck over steel girder. Sampling criteria also includes the age of the bridges. The study covered the four-cost-impact categories provided by the NCHRP （National Cooperative Research Program）. The current truck weight and double traffic volume （AS2） show the best scenario to meet the increase in freight demand. However, doubling the truck weight with the current traffic volume （AS 1） was the worst scenario. The use of the proposed 97-kip truck with the current traffic volume （AS3） compromises both, meeting the increase in freight demand and the cost impact.

Critical Loads of Heavy Metals in a Highly Polluted Catchment Area in Egypt

Heavy metals in different environmental compartments can be hazardous to ecosystems. Budgets of Cd, Pb and Zn in small ecosystems of the Shubra El-Kheima area in Egypt are presented. The budgets are not in steady state because they change with time. So the concentrations of the metals are a function of time. The critical loads of heavy metals to soils can be calculated from an inventory of inputs and outputs of the trace components in the catchment area. Critical time is an important parameter for critical load evaluation because it can indicate which of the heavy metals may be the most acute threat to the soils. Egyptian soil in the Shubra El-Kheima area seems to be in danger of heavy metal pollution by Zn, Cd and Pb. The calculated critical loads and their exceedances are approximate indicators of the hazards in the soil system. The critical time is a warning signal to initiate an environmental evaluation of possible pollution hazards.

Effect of Mild-calcined Coal Gangue Additionon Hot Strength and Refractoriness Under Loadof Ultra Low Cement Castablesin Al_2O_3-SiO_2 System

This work explored the way to improve hot modulus q/＇ rupture （HMOR） and refractoriness under load （RUL） by adding mild-calcined coal gangue （MCG） in Al2O3 -SiO2 ultra low cement （ULC） castables, making use of the in-situ effect of the MCG during heating-up. The influence of respective additions of 5%, 10% and 1.5% of the MCG powders calcined at 700℃ was investigated on HMOR at 1400 ℃ and RUL of the castables. With increased addition of the MCG, HMOR and RUL become significantly enhanced. At 10% of the MCG addition, HMOR reaches 3 MPa, as compared to 0. 3 MPa in the case of no MCG addition. RUL of the specimens dried at 110 ℃for 24 h can be increased by some 270 ℃ with 10% of the MCG addition. RUL 0.11 the specimens preheated at 1 500℃ for 3 h maintains the growth trend with the MCG addition increasing. The microstructure of the heated castable samples was investigated by means of SEM. The in-situ formed needle-like and interlaced mullite in the matrix is contributive to the tmprovement.

船用发动机重载工况下凸轮-滚轮副混合热弹流润滑分析

凸轮-滚轮副是大功率船用发动机配气机构的关键摩擦副,除受到弹簧力和自身的惯性力之外,还受到来自喷油器的极高燃油压力,工作条件极为苛刻。为了分析该摩擦副的性能,建立船用发动机重载工况下凸轮-滚轮副的混合热弹流润滑模型,计算燃油压力作用下的摩擦副油膜润滑、摩擦温升和磨损性能。结果表明:喷油器的燃油压力会显著降低凸轮-滚轮摩擦副之间的油膜厚度,同时产生较为严重的微凸体接触;随着环境温度的提高,凸轮-滚轮副的油膜厚度以及油膜温升会有所下降,而微凸体接触压力、摩擦力以及摩擦功率均会显著增加;滚轮打滑会造成凸轮-滚轮摩擦副的油膜厚度下降,同时导致油膜温升以及微凸体接触压力增大和并且致使表面磨损显著加剧。