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.

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.

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.

Quantifying the contribution of natural variability to September Arctic sea ice decline

Arctic sea ice extent has been declining in recent decades. There is ongoing debate on the contribution of natural internal variability to recent and future Arctic sea ice changes. In this study, we contrast the trends in the forced and unforced simulations of carefully selected global climate models with the extended observed Arctic sea ice records. The results suggest that the natural variability explains no more than 42.3% of the observed September sea ice extent trend during 35 a（1979–2013） satellite observations, which is comparable to the results of the observed sea ice record extended back to 1953（61 a, less than 48.5% natural variability）. This reinforces the evidence that anthropogenic forcing plays a substantial role in the observed decline of September Arctic sea ice in recent decades. The magnitude of both positive and negative trends induced by the natural variability in the unforced simulations is slightly enlarged in the context of increasing greenhouse gases in the 21st century.However, the ratio between the realizations of positive and negative trends change has remained steady, which enforces the standpoint that external forcing will remain the principal determiner of the decreasing Arctic sea ice extent trend in the future.

Multi-Objective Optimization of VBHF in Deep Drawing Based on the Improved QO-Jaya Algorithm

Blank holder force(BHF)is a crucial parameter in deep drawing,having close relation with the forming quality of sheet metal.However,there are different BHFs maintaining the best forming effect in different stages of deep drawing.The variable blank holder force(VBHF)varying with the drawing stage can overcome this problem at an extent.The optimization of VBHF is to determine the optimal BHF in every deep drawing stage.In this paper,a new heuristic optimization algorithm named Jaya is introduced to solve the optimization efficiently.An improved“Quasi-oppositional”strategy is added to Jaya algorithm for improving population diversity.Meanwhile,an innovated stop criterion is added for better convergence.Firstly,the quality evaluation criteria for wrinkling and tearing are built.Secondly,the Kriging models are developed to approximate and quantify the relation between VBHF and forming defects under random sampling.Finally,the optimization models are established and solved by the improved QO-Jaya algorithm.A VBHF optimization example of component with complicated shape and thin wall is studied to prove the effectiveness of the improved Jaya algorithm.The optimization results are compared with that obtained by other algorithms based on the TOPSIS method.