The simulation model of a valve control hydraulic system with long pipe isestablished in Simulink4.0, and then the step responses of the systems with difference pipeparameters are investigated by simulation. Simulatio...The simulation model of a valve control hydraulic system with long pipe isestablished in Simulink4.0, and then the step responses of the systems with difference pipeparameters are investigated by simulation. Simulation results show that the long pipes will slowdown the step response of system and make it fluctuate periodically. The results of simulationconform to the results of experiment on the whole, which proves the mathematic model is correct.展开更多
Most of the existing screw drive in-pipe robots cannot actively adjust the maximum traction capacity, which limits the adaptability to the wide range of variable environment resistance, especially in curved pipes. In ...Most of the existing screw drive in-pipe robots cannot actively adjust the maximum traction capacity, which limits the adaptability to the wide range of variable environment resistance, especially in curved pipes. In order to solve this problem, a screw drive in-pipe robot based on adaptive linkage mechanism is proposed. The differential property of the adaptive linkage mechanism allows the robot to move without motion interference in the straight and varied curved pipes by adjusting inclining angles of rollers self-adaptively. The maximum traction capacity of the robot can be changed by actively adjusting the inclining angles of rollers. In order to improve the adaptability to the variable resistance, a torque control method based on the fuzzy controller is proposed. For the variable environment resistance, the proposed control method can not only ensure enough traction force, but also limit the output torque in a feasible region. In the simulations, the robot with the proposed control method is compared to the robot with fixed inclining angles of rollers. The results show that the combination of the torque control method and the proposed robot achieves the better adaptability to the variable resistance in the straight and curved pipes.展开更多
An excited experiment system of 20# steel pipe was established with oil cylinder, 20# steel pipe, frequency converter, pump station and wave exciter generating unsteady flow artificially. The experimental results show...An excited experiment system of 20# steel pipe was established with oil cylinder, 20# steel pipe, frequency converter, pump station and wave exciter generating unsteady flow artificially. The experimental results showed that the 20# steel pipe could vibrate with the excitation of unsteady flows, and the vibration was periodic, instead of a harmonic one. Particles on the front and rear positions of pipe vibrated synchronously, and the vibration intensity of the pipe's two ends was greater than in the middle. System pressure and wave exciter's frequency had much influence upon pipe's amplitude. Pipe's vibration frequency was little affected by system pressure, and its value was close to the wave exciter's. Therefore, the active control of pipe's vibration can be realized by setting system pressure and adjusting frequency converter's frequency.展开更多
Crimping is used in production of large diameter submerged-arc welding pipes. Many researches are focused on crimping in certain manufacturing mode of welding pipe. The application scopes of research achievements beco...Crimping is used in production of large diameter submerged-arc welding pipes. Many researches are focused on crimping in certain manufacturing mode of welding pipe. The application scopes of research achievements become limited due to lack of uniformity in theoretical analysis. In order to propose a crimping prediction method in order to control forming quality, the theory model of crimping based on elastic-plastic mechanics is established. The main technical parameters are determined by theoretical analysis, including length of crimping, base radius of punch, terminal angle of punch, base radius of die, terminal angle of die and horizontal distance between punch and die. In addition, a method used to evaluate the forming quality is presented, which investigates the bending angle after springback, forming force, straight edge length and equivalent radius of curvature. In order to investigate the effects of technical parameters on forming quality, a two-dimensional finite element model is established by finite element software ABAQUS. The finite element model is verified in that its shapes error is less than 5% by comparable experiments, which shows that their geometric precision meets demand. The crimping characteristics is obtained, such as the distribution of stress and strain and the changes of forming force, and the relation curves of technical parameters on forming quality are given by simulation analysis. The sensitivity analysis indicates that the effects of length of crimping, technical parameters of punch on forming quality are significant. In particular, the data from simulation analysis are regressed by response surface method (RSM) to establish prediction model. The feasible technical parameters are obtained from the prediction model. This method presented provides a new thought used to design technical parameters of crimping forming and makes a basis for improving crimping forming quality.展开更多
The mathematical models of electro-hydraulic speed control system using series of pipesis presented. The principle of pipe effection on dynamics of the system is developed. Computersimulation and physical experiment a...The mathematical models of electro-hydraulic speed control system using series of pipesis presented. The principle of pipe effection on dynamics of the system is developed. Computersimulation and physical experiment are also carried out. The experimental results show that a rightchoosing of serial pipe for electro-hydraulic system enables the dynamic response of the system tobe improved effectively.展开更多
To realize the accurate control of water hammer in pipes by valve stroking, based on basic differential equations of water hammer subjected to initial and boundary conditions, the traveling solution of wave equations ...To realize the accurate control of water hammer in pipes by valve stroking, based on basic differential equations of water hammer subjected to initial and boundary conditions, the traveling solution of wave equations in finite region was applied to the linear water hammer problem. With the given velocity function at the valve and the introduction of curve integration independent of integral path, the exact analytic solution of dimensionless water hammer pressure was obtained in the course of valve closing. Based on the definition of eigen wave height, optimal eigen wave height and observation time, the control goal of water hammer pressure and the judgment rule of the optimal eigen wave height were determined, then the optimal velocity function in the calculated example was derived, which can reduce the water hammer pressure maximally. According to this function, a valve closing program was set, and the optimal control of water hammer could be realized.展开更多
基金This project is supported by National Natural Science Foundation of China(No.59875076).
文摘The simulation model of a valve control hydraulic system with long pipe isestablished in Simulink4.0, and then the step responses of the systems with difference pipeparameters are investigated by simulation. Simulation results show that the long pipes will slowdown the step response of system and make it fluctuate periodically. The results of simulationconform to the results of experiment on the whole, which proves the mathematic model is correct.
基金Supported by National Natural Science Foundation of China(Grant No.61273345)
文摘Most of the existing screw drive in-pipe robots cannot actively adjust the maximum traction capacity, which limits the adaptability to the wide range of variable environment resistance, especially in curved pipes. In order to solve this problem, a screw drive in-pipe robot based on adaptive linkage mechanism is proposed. The differential property of the adaptive linkage mechanism allows the robot to move without motion interference in the straight and varied curved pipes by adjusting inclining angles of rollers self-adaptively. The maximum traction capacity of the robot can be changed by actively adjusting the inclining angles of rollers. In order to improve the adaptability to the variable resistance, a torque control method based on the fuzzy controller is proposed. For the variable environment resistance, the proposed control method can not only ensure enough traction force, but also limit the output torque in a feasible region. In the simulations, the robot with the proposed control method is compared to the robot with fixed inclining angles of rollers. The results show that the combination of the torque control method and the proposed robot achieves the better adaptability to the variable resistance in the straight and curved pipes.
基金Funded by the National Natural Science Foundation of China(No. 50775154)the Natural Science Foundation for Young Scientists of Shanxi Province(No. 2010201025)
文摘An excited experiment system of 20# steel pipe was established with oil cylinder, 20# steel pipe, frequency converter, pump station and wave exciter generating unsteady flow artificially. The experimental results showed that the 20# steel pipe could vibrate with the excitation of unsteady flows, and the vibration was periodic, instead of a harmonic one. Particles on the front and rear positions of pipe vibrated synchronously, and the vibration intensity of the pipe's two ends was greater than in the middle. System pressure and wave exciter's frequency had much influence upon pipe's amplitude. Pipe's vibration frequency was little affected by system pressure, and its value was close to the wave exciter's. Therefore, the active control of pipe's vibration can be realized by setting system pressure and adjusting frequency converter's frequency.
基金supported by Hebei Excellent Youth Fund of Science and Technology Research for Colleges and Universities of China(Grant NoY2012035)
文摘Crimping is used in production of large diameter submerged-arc welding pipes. Many researches are focused on crimping in certain manufacturing mode of welding pipe. The application scopes of research achievements become limited due to lack of uniformity in theoretical analysis. In order to propose a crimping prediction method in order to control forming quality, the theory model of crimping based on elastic-plastic mechanics is established. The main technical parameters are determined by theoretical analysis, including length of crimping, base radius of punch, terminal angle of punch, base radius of die, terminal angle of die and horizontal distance between punch and die. In addition, a method used to evaluate the forming quality is presented, which investigates the bending angle after springback, forming force, straight edge length and equivalent radius of curvature. In order to investigate the effects of technical parameters on forming quality, a two-dimensional finite element model is established by finite element software ABAQUS. The finite element model is verified in that its shapes error is less than 5% by comparable experiments, which shows that their geometric precision meets demand. The crimping characteristics is obtained, such as the distribution of stress and strain and the changes of forming force, and the relation curves of technical parameters on forming quality are given by simulation analysis. The sensitivity analysis indicates that the effects of length of crimping, technical parameters of punch on forming quality are significant. In particular, the data from simulation analysis are regressed by response surface method (RSM) to establish prediction model. The feasible technical parameters are obtained from the prediction model. This method presented provides a new thought used to design technical parameters of crimping forming and makes a basis for improving crimping forming quality.
文摘The mathematical models of electro-hydraulic speed control system using series of pipesis presented. The principle of pipe effection on dynamics of the system is developed. Computersimulation and physical experiment are also carried out. The experimental results show that a rightchoosing of serial pipe for electro-hydraulic system enables the dynamic response of the system tobe improved effectively.
基金Sponsored by the National Natural Science Foundation of China (Grant No. 50478025 and 50506009) the 46th China Postdoctoral Science Foundation(Grant No.20090460912)
文摘To realize the accurate control of water hammer in pipes by valve stroking, based on basic differential equations of water hammer subjected to initial and boundary conditions, the traveling solution of wave equations in finite region was applied to the linear water hammer problem. With the given velocity function at the valve and the introduction of curve integration independent of integral path, the exact analytic solution of dimensionless water hammer pressure was obtained in the course of valve closing. Based on the definition of eigen wave height, optimal eigen wave height and observation time, the control goal of water hammer pressure and the judgment rule of the optimal eigen wave height were determined, then the optimal velocity function in the calculated example was derived, which can reduce the water hammer pressure maximally. According to this function, a valve closing program was set, and the optimal control of water hammer could be realized.