Nowadays, a highly integrated valve?controlled cylinder(HIVC) is applied to drive the joints of legged robots. Although the adoption of HIVC has resulted in high?performance robot control, the hydraulic force system s...Nowadays, a highly integrated valve?controlled cylinder(HIVC) is applied to drive the joints of legged robots. Although the adoption of HIVC has resulted in high?performance robot control, the hydraulic force system still has problems, such as strong nonlinearity, and time?varying parameters. This makes HIVC force control very diffcult and complex. How to improve the control performance of the HIVC force control system and find the influence rule of the system parameters on the control performance is very significant. Firstly, the mathematical model of HIVC force control system is established. Then the mathematical expression for parameter sensitivity matrix is obtained by applying matrix sensitivity analysis(PSM). Then, aimed at the sinusoidal response under(three factors and three levels) working conditions, the simulation and the experiment are conducted. While the error between the simulation and experiment can’t be avoided. Therefore, combined with the range analysis, the error in the two performance indexes of sinusoidal response under the whole working condition is analyzed. Besides, the sensitivity variation pattern for each system parameter under the whole working condition is figured out. Then the two sensitivity indexes for the three system parameters, which are supply pressure, proportional gain and initial displacement of piston, are proved experimentally. The proposed method significantly reveals the sensitivity characteristics of HIVC force control system, which can make the contribution to improve the control performance.展开更多
A contact problem for an infinitely long hollow cylinder is considered. The cylinder is compressed by an outer rigid ring with a circular profile. The material of the cylinder is linearly elastic and isotropic. The ex...A contact problem for an infinitely long hollow cylinder is considered. The cylinder is compressed by an outer rigid ring with a circular profile. The material of the cylinder is linearly elastic and isotropic. The extent of the contact region and the pressure distribution are sought. Governing equations of the elasticity theory for the axisymmetric problem in cylindrical coordinates are solved by Fourier transforms and general expressions for the displacements are obtained. Using the boundary conditions, the formulation is reduced to a singular integral equation. This equation is solved by using the Gaussian quadrature. Then the pressure distribution on the contact region is determined. Numerical results for the contact pressure and the distance characterizing the contact area are given in graphical form.展开更多
In this paper,based on paper [1] and [2], bending integral expressions of the stress function and shear stresses of a cylinder with several cracks are obtained. Using the numerical method of the singular integral equa...In this paper,based on paper [1] and [2], bending integral expressions of the stress function and shear stresses of a cylinder with several cracks are obtained. Using the numerical method of the singular integral equations￣[3],it is easy for us to do the numerical calculation of the stresses and stress intensity factors, which is similar to that of paper[1].展开更多
基金Supported by National Natural Science Foundation of China(Grant No.51605417)Key Project of Hebei Provincial Natural Science Foundation,China(Grant No.E2016203264)State Key Laboratory of Fluid Power and Mechatronic Systems(Zhejiang University)Open Fund Project(Grant No.GZKF-201502)
文摘Nowadays, a highly integrated valve?controlled cylinder(HIVC) is applied to drive the joints of legged robots. Although the adoption of HIVC has resulted in high?performance robot control, the hydraulic force system still has problems, such as strong nonlinearity, and time?varying parameters. This makes HIVC force control very diffcult and complex. How to improve the control performance of the HIVC force control system and find the influence rule of the system parameters on the control performance is very significant. Firstly, the mathematical model of HIVC force control system is established. Then the mathematical expression for parameter sensitivity matrix is obtained by applying matrix sensitivity analysis(PSM). Then, aimed at the sinusoidal response under(three factors and three levels) working conditions, the simulation and the experiment are conducted. While the error between the simulation and experiment can’t be avoided. Therefore, combined with the range analysis, the error in the two performance indexes of sinusoidal response under the whole working condition is analyzed. Besides, the sensitivity variation pattern for each system parameter under the whole working condition is figured out. Then the two sensitivity indexes for the three system parameters, which are supply pressure, proportional gain and initial displacement of piston, are proved experimentally. The proposed method significantly reveals the sensitivity characteristics of HIVC force control system, which can make the contribution to improve the control performance.
文摘A contact problem for an infinitely long hollow cylinder is considered. The cylinder is compressed by an outer rigid ring with a circular profile. The material of the cylinder is linearly elastic and isotropic. The extent of the contact region and the pressure distribution are sought. Governing equations of the elasticity theory for the axisymmetric problem in cylindrical coordinates are solved by Fourier transforms and general expressions for the displacements are obtained. Using the boundary conditions, the formulation is reduced to a singular integral equation. This equation is solved by using the Gaussian quadrature. Then the pressure distribution on the contact region is determined. Numerical results for the contact pressure and the distance characterizing the contact area are given in graphical form.
文摘In this paper,based on paper [1] and [2], bending integral expressions of the stress function and shear stresses of a cylinder with several cracks are obtained. Using the numerical method of the singular integral equations￣[3],it is easy for us to do the numerical calculation of the stresses and stress intensity factors, which is similar to that of paper[1].
