Automatic navigation of an articulated drum roller, which is an articulated steering type vehicle widely used in the construction industry, is highly expected for operation cost reduction and improvement of work effi-...Automatic navigation of an articulated drum roller, which is an articulated steering type vehicle widely used in the construction industry, is highly expected for operation cost reduction and improvement of work effi- ciency. In order to achieve the path following control, considering that its steering system is articulated steering and two frames are articulated by an active revolute joint, a kinematic model and an error dynamic state-space equation of an articulated drum roller are proposed. Besides, a state- feedback control law based on Lyapunov stability theory is also designed, which can be proved to achieve the purpose of control by the analysis of stability. What＇s more, to evaluate the performance of the proposed method, simu- lation under the MATLAB/Simulink and experiments using positioning algorithm and errors correction at the uneven construction site are performed, with initial dis- placement error （-1.5 m）, heading error （-0.11 tad） and steering angle （-0.19 rad）. Finally, simulation and exper- imental results show that the errors and steering angle can decrease gradually, and converge to zero with time. Meanwhile, the control input is not saturated. An articu- lated drum roller can lock into a desired path with the proposed method in uneven fields.展开更多
During multi-pass conventional spinning, roller paths combined with the forward and the backward pass are usually used to improve the material formability. In order to understand the backward spinning process properly...During multi-pass conventional spinning, roller paths combined with the forward and the backward pass are usually used to improve the material formability. In order to understand the backward spinning process properly, the backward roller paths of hemispherical parts with aluminum alloy 2024-O are analyzed. Finite element model with parameterized conventional spinning roller paths, which are based on quadratic Bezier curves, is developed to explore the evolution of the stress, strain and thinning during the backward processes. Analysis of the simulation results reveals stress and strain features of backward pass spinning. According to the findings, the application of the backward pass can obviously improve the uniformity of wall thickness. Furthermore, references of the parameters in future backward path design are provided.展开更多
基金Supported by National Key Technology Support Program of China(Grant No.2015BAF07B05)Fundamental Research Funds for the Central Universities of China
文摘Automatic navigation of an articulated drum roller, which is an articulated steering type vehicle widely used in the construction industry, is highly expected for operation cost reduction and improvement of work effi- ciency. In order to achieve the path following control, considering that its steering system is articulated steering and two frames are articulated by an active revolute joint, a kinematic model and an error dynamic state-space equation of an articulated drum roller are proposed. Besides, a state- feedback control law based on Lyapunov stability theory is also designed, which can be proved to achieve the purpose of control by the analysis of stability. What＇s more, to evaluate the performance of the proposed method, simu- lation under the MATLAB/Simulink and experiments using positioning algorithm and errors correction at the uneven construction site are performed, with initial dis- placement error （-1.5 m）, heading error （-0.11 tad） and steering angle （-0.19 rad）. Finally, simulation and exper- imental results show that the errors and steering angle can decrease gradually, and converge to zero with time. Meanwhile, the control input is not saturated. An articu- lated drum roller can lock into a desired path with the proposed method in uneven fields.
基金Project(2014CB046601)supported by the National Basic Research Program of ChinaProject(51675333)supported by the National Natural Science Foundation of China
文摘During multi-pass conventional spinning, roller paths combined with the forward and the backward pass are usually used to improve the material formability. In order to understand the backward spinning process properly, the backward roller paths of hemispherical parts with aluminum alloy 2024-O are analyzed. Finite element model with parameterized conventional spinning roller paths, which are based on quadratic Bezier curves, is developed to explore the evolution of the stress, strain and thinning during the backward processes. Analysis of the simulation results reveals stress and strain features of backward pass spinning. According to the findings, the application of the backward pass can obviously improve the uniformity of wall thickness. Furthermore, references of the parameters in future backward path design are provided.
