An ultrasonic motor （USM） is difficlt to be mathematically described because of its complex energy conversion and nonlinear parameters from increasing temperature and changing operating conditions. To achieve good p...An ultrasonic motor （USM） is difficlt to be mathematically described because of its complex energy conversion and nonlinear parameters from increasing temperature and changing operating conditions. To achieve good performance of a three-joint robot directly driven by USM, according to the operating characteristics of USM, a new position-velocity feedback control strategy is proposed. In the control strategy, there are a total of 18 controller gains to he tuned. Through a series of ＂Design of Experiments＂ by the robust parameter design, an optimal and robust set of proportional integral derivative （PID） controller gains is obtained. Results show that the control strategy can achieve the best performance of the robot and the robust parameter design is effective and convenient to USMs.展开更多
It is still argued whether we measure phase or group velocities using acoustic logging tools. In this paper, three kinds of models are used to investigate this problem by theoretical analyses and numerical simulations...It is still argued whether we measure phase or group velocities using acoustic logging tools. In this paper, three kinds of models are used to investigate this problem by theoretical analyses and numerical simulations. First, we use the plane-wave superposition model containing two plane waves with different velocities and able to change the values of phase velocity and group velocity. The numerical results show that whether phase velocity is higher or lower than group velocity, using the slowness-time coherence （STC） method we can only get phase velocities. Second, according to the results of the dispersion analysis and branch-cut integration, in a rigid boundary borehole model the results of dispersion curves and the waveforms of the first-order mode show that the velocities obtained by the STC method are phase velocities while group velocities obtained by arrival time picking. Finally, dipole logging in a slow formation model is investigated using dispersion analysis and real-axis integration. The results of dispersion curves and full wave trains show similar conclusions as the borehole model with rigid boundary conditions.展开更多
Based on the theory of elastic mechanics and material mechanics, the orientation precision of the hohl schaft kegel（HSK） tooling system in static and dynamic states is theoretically and experimentally studied. The r...Based on the theory of elastic mechanics and material mechanics, the orientation precision of the hohl schaft kegel（HSK） tooling system in static and dynamic states is theoretically and experimentally studied. The relation between the clamping force and the shank taper is obtained. And a proper clamping force is found to be essential to assure the axial and radial orientation precisions of the HSK tooling system in high speed machining （HSM）. Analytical results show that the reason why the HSK tooling system can keep high precision at the high rotational speed is that the actual axial clamping force keeps the two surfaces of the shank and the spindle in contact all the time.展开更多
The intersection method is one of the basic approaches for locating earthquakes and is not only robust but also efficient. However, its location accuracy is not high, especially for focal depth because the velocity mo...The intersection method is one of the basic approaches for locating earthquakes and is not only robust but also efficient. However, its location accuracy is not high, especially for focal depth because the velocity model used for the conventional intersection method is based on homogeneous or laterally homogeneous media, which is too simple. In order to improve the accuracy, we have modified the existing intersection method. In the modified approach, the earthquake loci are not assumed to be circular or hyperbolic and calculation accuracy is improved using a minimum traveltime tree algorithm for tracing rays. The numerical model shows that the modified method can locate earthquakes in complex velocity models.展开更多
基金Supported by the National Natural Science Foundation of China(50675098,50735002)~~
文摘An ultrasonic motor （USM） is difficlt to be mathematically described because of its complex energy conversion and nonlinear parameters from increasing temperature and changing operating conditions. To achieve good performance of a three-joint robot directly driven by USM, according to the operating characteristics of USM, a new position-velocity feedback control strategy is proposed. In the control strategy, there are a total of 18 controller gains to he tuned. Through a series of ＂Design of Experiments＂ by the robust parameter design, an optimal and robust set of proportional integral derivative （PID） controller gains is obtained. Results show that the control strategy can achieve the best performance of the robot and the robust parameter design is effective and convenient to USMs.
基金supported by the National Natural Science Foundation of China (Grant No. 40774099, 10874202 and 11134011)National 863 Program of China (Grant No. 2008AA06Z205)
文摘It is still argued whether we measure phase or group velocities using acoustic logging tools. In this paper, three kinds of models are used to investigate this problem by theoretical analyses and numerical simulations. First, we use the plane-wave superposition model containing two plane waves with different velocities and able to change the values of phase velocity and group velocity. The numerical results show that whether phase velocity is higher or lower than group velocity, using the slowness-time coherence （STC） method we can only get phase velocities. Second, according to the results of the dispersion analysis and branch-cut integration, in a rigid boundary borehole model the results of dispersion curves and the waveforms of the first-order mode show that the velocities obtained by the STC method are phase velocities while group velocities obtained by arrival time picking. Finally, dipole logging in a slow formation model is investigated using dispersion analysis and real-axis integration. The results of dispersion curves and full wave trains show similar conclusions as the borehole model with rigid boundary conditions.
文摘Based on the theory of elastic mechanics and material mechanics, the orientation precision of the hohl schaft kegel（HSK） tooling system in static and dynamic states is theoretically and experimentally studied. The relation between the clamping force and the shank taper is obtained. And a proper clamping force is found to be essential to assure the axial and radial orientation precisions of the HSK tooling system in high speed machining （HSM）. Analytical results show that the reason why the HSK tooling system can keep high precision at the high rotational speed is that the actual axial clamping force keeps the two surfaces of the shank and the spindle in contact all the time.
基金This work is supported by the National Natural Science Foundation of China(40674044)the Special Foundation for Basic Professional Scientific Research (DQJB06A02)
文摘The intersection method is one of the basic approaches for locating earthquakes and is not only robust but also efficient. However, its location accuracy is not high, especially for focal depth because the velocity model used for the conventional intersection method is based on homogeneous or laterally homogeneous media, which is too simple. In order to improve the accuracy, we have modified the existing intersection method. In the modified approach, the earthquake loci are not assumed to be circular or hyperbolic and calculation accuracy is improved using a minimum traveltime tree algorithm for tracing rays. The numerical model shows that the modified method can locate earthquakes in complex velocity models.
