The Effect of Variable Blank-Holder Forces on the Formability of Aluminum Alloy Sheets during Sheet Metal Forming

In this paper, the effect of variable Blank-holder forces (VBHF) on the strain path during sheet metal forming has been investigated by numerical simulation and experiments. The formability of select aluminum alloy sheet was evaluated by theory prediction of forming limit curve based on the M-K method. The effect of different VBHF on the formability was presented. In order to verify the predictions of strain path, experiments are being carried out using a recently-built multi-points variable blank-holder forces hydraulic press. The results show that large side BHF with small comer BHF during rectangular box deep drawing can improve the formability of the selected aluminum alloy

Oscillatory Dynamics of a Spherical Solid in a Liquid in an Axisymmetric Variable Cross Section Channel

The dynamics of a solid spherical body in an oscillating liquid flow in a vertical axisymmetric channel of variable cross section is experimentally studied.It is shown that the oscillating liquid leads to the generation of intense averaged flows in each of the channel segments.The intensity and direction of these flows depend on the dimensionless oscillating frequency.In the region of studied frequencies,the dynamics of the considered body is examined when the primary vortices emerging in the flow occupy the whole region in each segment.For a fixed frequency,an increase in the oscillation amplitude leads to a phase-inclusion holding effect,i.e.,the body occupies a quasi-stationary position in one of the cells of the vertical channel,while oscillating around its average position.It is also shown that the oscillating motion of a liquid column generates an averaged force acting on the body,the magnitude of which depends on the properties of the body and its position in the channel.The quasi-stationary position is determined by the relative density and size of the body,as well as the dimensionless frequency.The behavior of the body as a function of the amplitude and frequency of fluid oscillation and relative size is discussed in detail.Such findings may be used in the future to control the position of a phase inclusion and/or to strengthen mass transfer effects in a channel of variable cross section by means of fluid oscillations.

Effect of Variable Blank Holder Force on Rectangular Box Drawing Process of Hot-galvanized Sheet Steel

At first, a series of finite element method （FEM） simulation tests were used to find the critical forming conditions of hot-galvanized sheet steel during the rectangular box drawing processing when constant blank holder forces were applied. According the test results, the reasonable alteration scope of initial variable blank holder force （VBHF） was as 1.9-2.3 T. Then, based on the test productions of blank holder force, 12 typical VBHF curves were applied to perform the simulation tests by the simulation software of DYNAFORM. The simulation test results showed that VBHF had great effects on drawing formability of hot-galvanized sheet steel during the rectangular box drawing. However, the different VBHF curves were applied to control the whole drawing and it would get great different effects. At the same tine, the VBHF had great effects on the maximum thick thinning ratio, but had little effect on the maximum thick incrassation ratio. So, reasonable application of the VBHF would greatly decrease the fractures. When the VBHF profile is taken as curve L, the best effect of drawing formability could be obtained. When curve I is used, contrary effect could be gotten. The other types of curves would cause effects between above two types of VBHF curves. Finally, the actual tests were applied to check the validity of the FEM simulation tests. The results show that the FEM simulation tests are good ways for predicting and optimizing the VBHF.

Dynamic analysis and simulation of four-axis forced synchronizing banana vibrating screen of variable linear trajectory

A new concept of banana vibrating screen which has the same effect as traditional banana vibrating screen in a new way was put forward.The dynamic model of vibrating screen was established and its working principle was analyzed when the action line of the exciting force did not act through the centroid of screen box.Moreover,the dynamic differential equations of centroid and screen surface were obtained.The motions of centroid and screen surface were simulated with actual parameters of the design example in Matlab/Simulink.The results show that not only the amplitude has a significant decrease from 9.38 to 4.10 mm,but also the throwing index and vibrating direction angle have a significant decrease from 10.49 to 4.59,and from 58.10° to 33.29°,respectively,along the screen surface,which indicates that motion characteristics of vibrating screen are consistent with those of traditional banana vibrating screen only by means of a single angle of screen surface.What's more,such banana vibrating screen of variable linear trajectory with greater processing capacity could be obtained by adjusting the relative position of force center and the centroid of screen box properly.

Prediction and Analysis of the Force and Shape Parameters in Variable Gauge Rolling

Variable gauge rolling is a new process to obtain a plate for which the thickness changes continuously by continuously and dynamically adjusting the roll gap upward and downward in the rolling process.This technology is an efective method for producing lightweight,low-cost,and economical plates.However,variable gauge rolling is an unsteady process,and the changes in the force and deformation parameters are complex.In this research,based on the minimum energy theory of the variational principle and considering the characteristics of the roll movement and workpiece deformation comprehensively,the internal plastic deformation,friction,shear and tension powers,and the minimum result of the total power functional in upward and downward rolling are obtained with the frst integral and then with a variation of adopting the specifc plastic power and strain rate vector inner product.The analytical results of the deformation and force parameters are also established using the variational method.Then the precision of this model is certifed using the measured values in a medium plate hot rolling plant and the experimental data for Tailor Rolled Blank rolling.Good agreement is found.Additionally,the variation rule of bite angle,neutral angle,and location neutral points are shown,and the change mechanism of the friction parameter on the stress state efect coefcient is given in variable gauge rolling.This research proposes a new mathematical model for rolling process control that provides a scientifc basis and technical support for obtaining an accurate section shape in variable gauge rolling production.

Force Control Compensation Method with Variable Load Stiffness and Damping of the Hydraulic Drive Unit Force Control System

Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit（HDU）, and the contacting between the robot foot end and the ground is complex and variable, which increases the difficulty of force control inevitably. In the recent years, although many scholars researched some control methods such as disturbance rejection control, parameter self-adaptive control, impedance control and so on, to improve the force control performance of HDU, the robustness of the force control still needs improving. Therefore, how to simulate the complex and variable load characteristics of the environment structure and how to ensure HDU having excellent force control performance with the complex and variable load characteristics are key issues to be solved in this paper. The force control system mathematic model of HDU is established by the mechanism modeling method, and the theoretical models of a novel force control compensation method and a load characteristics simulation method under different environment structures are derived, considering the dynamic characteristics of the load stiffness and the load damping under different environment structures. Then, simulation effects of the variable load stiffness and load damping under the step and sinusoidal load force are analyzed experimentally on the HDU force control performance test platform, which provides the foundation for the force control compensation experiment research. In addition, the optimized PID control parameters are designed to make the HDU have better force control performance with suitable load stiffness and load damping, under which the force control compensation method is introduced, and the robustness of the force control system with several constant load characteristics and the variable load characteristics respectively are comparatively analyzed by experiment. The research results indicate that if the load characteristics are known, the force control compensation method presented in this paper has positive compensation effects on the load characteristics variation, i.e., this method decreases the effects of the load characteristics variation on the force control performance and enhances the force control system robustness with the constant PID parameters, thereby, the online PID parameters tuning control method which is complex needs not be adopted. All the above research provides theoretical and experimental foundation for the force control method of the quadruped robot joints with high robustness.

MODELING, VALIDATION AND OPTIMAL DESIGN OF THE CLAMPING FORCE CONTROL VALVE USED IN CONTINUOUSLY VARIABLE TRANSMISSION

Associated dynamic performance of the clamping force control valve used in continuously variable transmission （CVT） is optimized. Firstly, the structure and working principle of the valve are analyzed, and then a dynamic model is set up by means of mechanism analysis. For the purpose of checking the validity of the modeling method, a prototype workpiece of the valve is manufactured for comparison test, and its simulation result follows the experimental result quite well. An associated performance index is founded considering the response time, overshoot and saving energy, and five structural parameters are selected to adjust for deriving the optimal associated performance index. The optimization problem is solved by the genetic algorithm （GA） with necessary constraints. Finally, the properties of the optimized valve are compared with those of the prototype workpiece, and the results prove that the dynamic performance indexes of the optimized valve are much better than those of the prototype workpiece.

Forced vibration analysis of nano-composite rotating pressurized microbeam reinforced by CNTs based on MCST with temperature-variable material properties

In this study, free and forced vibration analysis of nano-composite rotating pressurized microbeam reinforced by carbon nanotubes （CNTs） under magnetic field based on modify couple stress theory （MCST） with temperature-variable material propertiesis presented. Also, the boundary conditions at two ends of nano-composite rotating pressurized microbeam reinforced by CNTs are considered as simply supported. The governing equations are obtained based on the Hamilton＇s principle and then computed these equations by using Navier＇s solution. The magnetic field is inserted in the thickness direction of the nano-composite microbeam. The effects of various parameters such as angular velocity, temperature changes, and pressure between of the inside and outside, the magnetic field, material length scale parameter, and volume fraction of nanocomposite microbeam on the natural frequency and response systemare studied. The results show that with increasing volume fraction of nano-composite microbeam, thickness, material length scale parameter, and magnetic fields, the natural frequency increases. The results of this research can be used for optimization of micro-structures and manufacturing sensors, displacement fluid, and drug delivery.

Analytical and Experimental Studies on Critical Blank-holder Forces in Cylindrical cup deep drawing

Based on the plastic deformation theory and energy method, the critical blank-holder forces (BHF) of wrinkling and fracture in the cylindrical cup deep-drawing are analyzed. The verify experiments were performed and compared with the theory analysis results. The predictions agree well with the experiment results. Thus, the validated presenttheoretical analysis model may be applied to determinate the suitable BHF.

Influence of Continental Atmospheric Forcing on the Decadal Variability of the West African Monsoon

The West African Monsoon (WAM) is characterized by strong decadal and multi-decadal variability and the impacts can be catastrophic for the local populations. One of the factors put forward to explain this variability involves the role of atmospheric dynamics, linked in particular to the Saharan Heat Low (SHL). This article addresses this question by comparing the sets of preindustrial control and historical simulation data from climate models carried out in the framework of the CMIP5 project and observations data over the 20th century. Through multivariate statistical analyses, it was established that decadal modes of ocean variability and decadal variability of Saharan atmospheric dynamics significantly influence decadal variability of monsoon precipitation. These results also suggest the existence of external anthropogenic forcing, which is superimposed on the decadal natural variability inducing an intensification of the signal in the historical simulations compared to preindustrial control simulations. We have also shown that decadal rainfall variability in the Sahel, once the influence of oceanic modes has been eliminated, appears to be driven mainly by the activity of the Arabian Heat Low (AHL) in the central Sahel, and by the structure of the meridional temperature gradient over the inter-tropical Atlantic in the western Sahel.

On the Motion of Controllable Mechanical Systems Having Variable Mass

The differential equations of motion of a comtlaint system with parameters and variable mass, of a system with variable mass and servo constraints and those for the control problem on the forced motion of constraint systems with variable mass are given respectively. Finally, an example is presented.

Trajectory Tracking of a Planer Parallel Manipulator by Using Computed Force Control Method

Despite small workspace, parallel manipulators have some advantages over their serial counterparts in terms of higher speed, acceleration, rigidity, accuracy, manufacturing cost and payload. Accordingly, this type of manipulators can be used in many applications such as in high-speed machine tools, tuning machine for feeding, sensitive cutting, assembly and packaging. This paper presents a special type of planar parallel manipulator with three degrees of freedom. It is constructed as a variable geometry truss generally known planar Stewart platform. The reachable and orientation workspaces are obtained for this manipulator. The inverse kinematic analysis is solved for the trajectory tracking according to the redundancy and joint limit avoidance. Then, the dynamics model of the manipulator is established by using Virtual Work method. The simulations are performed to follow the given planar trajectories by using the dynamic equations of the variable geometry truss manipulator and computed force control method. In computed force control method, the feedback gain matrices for PD control are tuned with fixed matrices by trail end error and variable ones by means of optimization with genetic algorithm.

Modeling and analysis of piezoelectric beam with periodically variable cross-sections for vibration energy harvesting

A bimorph piezoelectric beam with periodically variable cross-sections is used for the vibration energy harvesting. The effects of two geometrical parameters on the first band gap of this periodic beam are investigated by the generalized differential quadrature rule （GDQR） method. The GDQR method is also used to calculate the forced vibration response of the beam and voltage of each piezoelectric layer when the beam is subject to a sinusoidal base excitation. Results obtained from the analytical method are compared with those obtained from the finite element simulation with ANSYS, and good agreement is found. The voltage output of this periodic beam over its first band gap is calculated and compared with the voltage output of the uniform piezoelectric beam. It is concluded that this periodic beam has three advantages over the uniform piezoelectric beam, i.e., generating more voltage outputs over a wide frequency range, absorbing vibration, and being less weight.

POWER FLOW ANALYSIS AND APPLICATION SIMULATION OF ELECTROMAGNETIC CONTINUOUSLY VARIABLE TRANSMISSION

With the structure of two air gaps and two rotors, the electromagnetic continuously variable transmission（EMCVT） is a novel power-split continuously variable transmission（CVT）. There are two kinds of power flowing through the EMCVT, one is mechanical power and the other is electric power. In the mean time, there are three power ports in the EMCVT, one is the outer rotor named mechanical power port and the other two are the inner rotor and the stator named electric power ports. The mechanical power port is connected to the driving wheels through the final gear and the electric ports are connected to the batteries through the transducers. The two kinds of power are coupled on the outer rotor of the EMCVT. The EMCVT can be equipped on the conventional vehicle being regarded as the CVT and it also can be equipped on the hybrid electric vehicle（HEV） as the multi-energy sources assembly. The power flows of these two kinds of applications are analysed. The back electromotive force（EMF） equations are illatively studied and so the dynamic mathematic model is theorized. In order to certify the feasibility of the above theories, three simulations are carried out in allusion to the above two kinds of mentioned applications of the EMCVT and a five speed automatic transmission（AT） vehicle. The simulation results illustrate that the efficiency of the EMCVT vehicles is higher than that of the AT vehicle owed to the optimized operation area of the engine. Hence the fuel consumption of the EMCVT vehicles is knock-down.

The Life Predictions in Whole Process Realized with Different Variables and Conventional Materials Constants for Elastic-Plastic Materials Behaviors under Unsymmetrical Cycle Loading

Author researches a lot of the mathematical models and the related conventional material constants in the traditional and the modem mechanics; to adopt two types of variables a and D, for the fatigue-damage-fracture behaviors to elastic-plastic steels contained flaws, to put forward several calculation models, which are the driving force and the life prediction expressions at each stage and in whole process; for the key parameters .A1 and ,A2 in two stages, there are functional relation with other conventional material constants σF,m1 and M2,λ2, they are defined as the new calculable comprehensive material constants, and indicate their physical and geometrical meanings. In addition, for conversion methods between two types of variables, relevant calculating example is provided. Thereby, make a linking between the fracture mechanics and the damage mechanics, communicating their relationships. This works for saving man powers and funds on fatigue-damage-fracture testing that will be having practical significance.

Motion stability and control of supercavitating vehicle with variable cavitation number

Cavitation number and speed are capable of variation during the motion of supercavitating vehicle underwater, for example, under the condition of accelerated motion stage and external disturbance. The dynamic model and control challenge associated with the longitudinal motion of supereavitating vehicle with variable cavitation number and speed have been explored. Based on the principle of cavity expansion independence the properties of cavity and the influence on planning force of body were researched. Calculation formula of efficiency of the fin was presented. Nonlinear dynamics model of variable cavitation number and speed supercavitating vehicle was established. Stabilities of the open-loop systems of different situations were analyzed. The simulations results of open-loop systems show that it is necessary to design a control method to control a supereavitating vehicle. A gain schedule controller with guaranteed H∞ performance was designed to stabilize the dive-plane dynamics of supercavitating vehicle under changing conditions.

Optimal Trajectory of Underwater Manipulator Using Adjoint Variable Method for Reducing Drag

In order to decrease the fluid drag on an underwater robot manipulator, an optimal trajectory method based on the variational method is presented. By introducing the adjoint variables, which are Lagrange multipliers, we formulate a Lagrange function under certain constraints related to the target angle, target angular velocity, and dynamic equation of the robot manipulator. The state equation (the partial differentiation of the Lagrange function with respect to the state variables), adjoint equation (the partial differentiation of the Lagrange function with respect to the adjoint variables), and sensitivity equation (the partial differentiation of the Lagrange function with respect to torques) can be derived from the stationary conditions of the Lagrange function. Using the state equation, we can calculate the state variables (angles, angular velocities, and angular acceleration) at every time step in the forward time direction. These state variables are stored as data at every time step. Next, by using the adjoint equation, we can calculate the adjoint variables by using these state variables at every time step in the backward time direction. These adjoint variables are stored as data at every time step. Third, the sensitivity equation is calculated by using both the state variables and the adjoint variables. Finally, the optimal trajectory of the manipulator is obtained using the sensitivities. The proposed method is applied to the problem of two-link manipulators. It can obtain the optimal drag reduction trajectory of the manipulator under the constraints mentioned above.

Effects Viscous Dissipation on the Asymptotic Behaviour of Laminar Forced Convection for HerscheI-Bulkley Fluid in a Circular Duct

The asymptotic behaviour of laminar forced convection in a circular duct, for a Herschel-Bulkley fluid with constant properties, is analysed by taking into account the viscous dissipation effects. The axial heat conduction in the fluid is neglected. The asymptotic temperature field and the asymptotic value of the Nusselt number are determined for every boundary condition that allows a fully developed region. Comparisons with other existing solutions for Newtonian and non-Newtonian cases are presented.

A practical PID variable stiffness control and its enhancement for compliant force-tracking interactions with unknown environments

Compliant interaction control is a key technology for robots performing contact-rich manipulation tasks.The design of the compliant controller needs to consider the robot hardware because complex control algorithms may not be compatible with the hardware performance,especially for some industrial robots with low bandwidth sensors.This paper focuses on effective and easy-to-use compliant control algorithms for position/velocity-controlled robots.Inspired by human arm stiffness adaptation behavior,a novel variable target stiffness(NVTS)admittance control strategy is proposed for adaptive force tracking,in which a proportional integral derivative(PID)variable stiffness law is designed to update the stiffness coefficient of the admittance function by the force and position feedback.Meanwhile,its stability and force-tracking capability are theoretically proven.In addition,an impact compensator(Impc)is integrated into the NVTS controller to enhance its disturbance-suppression capability when the robot is subjected to strong vibration disturbances in complicated surface polishing tasks.The proposed controllers are validated through four groups of experimental tests using different robots and the corresponding results demonstrate that they have high-accuracy tracking capability and strong adaptability in unknown environments.

无线传感网络拥塞控制中节点选择强制博弈方法

无线传感网络中节点数据流量较大,分布范围较广,节点选择寻优计算复杂,导致浪费大量算力在节点选择上,拥塞控制效果不佳。提出一种无线传感网络拥塞控制中节点选择强制博弈方法,计算单条网络链路传输成本,依据传输数据耗费能量,计算传输节点可用能量比值,在传输变量权重值基础上,求得传输节点实际拥堵指数,完成节点选择。计算网络连接层的数据包丢弃概率,确定网络拥塞程度,汇聚节点数据流建立节点选择强制博弈模型,明确传感网络稳态传输条件,利用流量正态分布算法,在节点选择博弈中做出强制选择。经仿真分析证明:所提方法分组递交率保持在83%以上,丢包数量保持在100 pkt/s之内,网络传输节点端到端的延迟在0.3 s以内。