风电惯性台架模拟惯量的计算

给出了水平轴风电惯性台架惯量的简化计算方法,即首先在不考虑叶片几何攻角和冲角变化的条件下,建立叶片三维模型获取其重心位置,再考虑到叶尖避雷装置和控制装置对叶片重心的影响来修正叶片重心位置,最后参考经验数据确定风轮转动惯量。

汽车制动器摩擦性能惯性台架测试新方法

SAEJ2681推荐草案是一种对制动器摩擦性能评价的惯性试验方法,拟取代以前单纯依靠拖动方式的标准。本文对该方法作了详细介绍,为我国现今汽车制动器摩擦性能评价的测试方法提供一个最新的参考和借鉴,以促进本行业测试水平的提高。

交流电机驱动机电混合模拟制动器惯性台架的研制

目前制动器惯性台架大都采用直流电机驱动和纯机械模拟的方法,该方法存在反应速度慢、惯量调整困难、模拟精度低等缺点.为此,基于机械模拟和电模拟相结合的方法,采用交流电机驱动和矢量变频调速技术,设计出一台能够实现反应速度快、惯量无级调整的汽车制动器惯性台架.详细介绍了该台架的基本原理、总体结构、技术参数以及交流电机的选择.最后,通过设计出的台架进行了实测验证,结果证明该台架惯量误差远小于汽车制动器性能台架试验标准中规定的误差,极大提高了模拟精度,达到了设计要求,可以应用到实际生产中.

风电制动器惯性台架的研制

试验台依据行业国家标准而开发设计,是以机械惯量来模拟风电实际惯量的制动器试验台。为保证试验条件和实际工况的一致性,试验台采用直流电机作为有效风能和负载转速的模拟,采用旋转的惯性飞轮模拟风电机组实际工况中的载荷,利用设计的气压和液压系统模拟风电实际的制动力驱动装置,对风电制动器施加制动力矩。通过对风电制动器各性能参数的检测、采集和分析,检验风电制动器制动性能是否合格。

汽车制动器惯性台架中冷却风速控制的新方法

汽车制动器惯性台架是目前测试制动器性能的主要试验设备。针对制动器惯性试验台架的风速控制不准确、信号干扰大等问题,结合实际情况,介绍一种采用串口通讯与数字PID相结合的控制方法,并论述具体实现方法。

基于虚拟惯性台的刹车控制系统试验方法

针对传统的惯性台试验不具备带起落架刹车能力,无法开展多轮起落架系统刹车试验的不足,提出了一种能与试验室惯性台试验原理、方法相结合,又能克服传统的物理试验不足的虚拟惯性台试验方法。利用仿真软件Matlab和LMS Virtual.Lab建立了虚拟惯性台仿真试验模型,对模型进行了仿真分析,并与外场实测结果进行了对比。结果表明:仿真分析结果与实测结果较为接近,所建立的模型简易可行,可以方便开展带起落架的多轮起落架刹车控制系统虚拟试验。

基于虚拟惯性台的刹车系统仿真研究

针对传统的惯性台试验不具备带起落架刹车能力,无法开展多轮起落架系统刹车试验的不足,提出了一种能与试验室惯性台试验原理、方法相结合,又能克服传统的物理试验不足的虚拟惯性台试验方法。利用仿真软件建立了虚拟惯性台仿真试验模型,对模型进行了仿真分析,并与外场实测结果进行了对比。结果表明:仿真分析结果与实测结果较为接近,所建立的模型简易可行,可以方便开展带起落架的多轮起落架刹车系统虚拟试验。

基于有限元分析方法的某惯性台体结构优化设计

建立惯导系统中惯性组件结构三维模型,利用有限元分析软件对惯性组件结构进行有限元模态计算和分析。根据模态分析结果,对惯性台体结构进行拓扑优化,达到惯性台体减重的目的,优化后的惯性台体结构满足文中提出的设计要求。此结构优化设计方法简单,易于实现,对优化惯导系统结构设计,实现小型化、轻量化目标具有一定的指导意义。

机械惯量混合电模拟技术研究

在惯性台架试验机上,根据原来飞轮转动惯量系统产生制动后转速的变化规律,通过计算机实时采集主轴转速、制动压力、制动转矩及制动距离等参数,利用直流电动机及其四象限调速系统,结合转动惯量电模拟控制算法实时控制转速的变化,实现了利用小飞轮来模拟机械系统中较大转动惯量,从而减小传统的机械飞轮。应用机械惯量和电惯量混合模拟的方法实现了惯量的无级调整。

盘式制动器摩擦材料摩擦性能试验研究

制动器摩擦性能的好坏直接影响到行驶车辆的安全性,其性能的降低会威胁到驾驶人员的人身安全。本文利用惯性台架模拟汽车行驶时具有的动能,在不同的工况下进行制动试验,通过对摩擦副间摩擦力及其表面温度的测量,分析不同工况对摩擦材料性能的影响(摩擦系数),试验结果可为摩擦材料的设计、制造工艺的调整提供可靠的理论依据。

INERTIAL INTEGRATED SYSTEM OF NORTH SEEKING/SIGHT STABILIZING ON VEHICLE

A brand new method of automatic north seeking/sight stabilizing is introduced for usage in land fighting vehicles such as tank, etc. Some inertial devices are installed additionally on the platform along with relative control circuits to make its function of North seeking possible. Double position calculation is adopted in this method, and by alignment at two sites the azimuth angle can be figured out. Also the orientation and the horizontal shifts of the gyro are simultaneously measured and compensated so as to improve the accuracy of north seeking. The system can automatically seek north when the vehicle is immobile. And the time consumption is no more than 5.5 min. Besides, the system can keep azimuth angle and provide tilt angle and pitch angle of the vehicle.

Study on rate azimuth platform inertial navigation system

The cost of the gravity passive inertial navigation system will be lower witha rate azimuth platform and gravity sensor constituting a gravity measurement and navigationsystem. According to the system performance characteristics, we study the rate azimuth platforminertial navigation system (RAPINS), give the system navigation algorithm, error equations of theattitude, velocity and position of the rate azimuth platform, and random error models of theaccelerometer and gyro. Using the MATLAB/Simulink tools, we study the RAPINS and RAPINS withvelocity damping. Simulation results demonstrate that the RAPINS with velocity damping has smallerrors in platform attitude and position and satisfies gravity measurement and navigationrequirement.

HWIL硬件在环仿真方法在民机刹车系统中的应用介绍

本文针对安全性要求非常高的民机刹车系统,介绍了验证其性能和排故等的一个比较先进的方法——HWIL硬件在环仿真方法,给出了HWIL刹车试验平台搭建方法,比较了HWIL相对于传统方法的优势。最后,提供了刹车系统使用HWIL进行仿真试验的具体考虑。通过介绍可以看出,HWIL方法对于民机刹车系统研制具有重要作用。

Response of Internal Waves to 2005 Typhoon Damrey over the Northwestern Shelf of the South China Sea

Continuous observation of sea water temperature and current was made at Wenchang Station(19°35′N,112°E) in 2005. The data collected indicate vigorous internal waves of both short periods and tidal and near-inertial periods. The temperature and current time series during 18-30 September were examined to describe the upper ocean internal wave field response to Typhoon Damrey(0518) . The strong wind associated with the typhoon,which passed over the sea area about 45 km south of Wenchang Station on 25 September,deepened the mixed layer depth remarkably. It decreased the mixed layer temperature while increasing the deep layer temperature,and intensified the near-inertial and high-frequency fluctuations of temperature and current. Power spectra of temperature and current time series indicate significant deviations from those obtained by using the deep ocean internal wave models characterized by a power law. The frequency spectra were dominated by three energetic bands:around the inertial frequency(7.75× 10-6 Hz) ,tidal frequencies(1.0×10-5 to 2.4×10-5 Hz) ,and between 1.4×10-4 and 8.3×10-4 Hz. Dividing the field data into three phases(before,during and after the typhoon) ,we found that the typhoon enhanced the kinetic energy in nearly all the frequency bands,especially in the surface water. The passage of Damrey made a major contribution to the horizontal kinetic energy of the total surface current variances. The vertical energy density distribution,with its peak value at the surface,was an indication that the energy injected by the strong wind into the surface current could penetrate downward to the thermocline.

Robust control with compensation of adaptive model for dual-stage inertially stabilized platform

To achieve excellent tracking accuracy,a coarse-fine dual-stage control system is chosen for inertially stabilized platform.The coarse stage is a conventional inertially stabilized platform,and the fine stage is a secondary servo mechanism to control lens motion in the imaging optical path.Firstly,the dual-stage dynamics is mathematically modeled as a coupling multi-input multi-output(MIMO)control system.Then,by incorporating compensation of adaptive model to deal with parameter variations and nonlinearity,a systematic robust H∞control scheme is designed,which can achieve good tracking performance,as well as improve system robustness against model uncertainties.Lyapunov stability analysis confirmed the stability of the overall control system.Finally,simulation and experiment results are provided to demonstrate the feasibility and effectiveness of the proposed control design method.

An improved computation scheme of strapdown inertial navigation system using rotation technique

To improve the accuracy of strapdown inertial navigation system(SINS) for long term applications,the rotation technique is employed to modulate the errors of the inertial sensors into periodically varied signals,and,as a result,to suppress the divergence of SINS errors.However,the errors of rotation platform will be introduced into SINS and might affect the final navigation accuracy.Considering the disadvantages of the conventional navigation computation scheme,an improved computation scheme of the SINS using rotation technique is proposed which can reduce the effects of the rotation platform errors.And,the error characteristics of the SINS with this navigation computation scheme are analyzed.Theoretical analysis,simulations and real test results show that the proposed navigation computation scheme outperforms the conventional navigation computation scheme,meanwhile reduces the requirement to the measurement accuracy of rotation angles.

Prestiction friction compensation in direct-drive mechatronics systems

LuGre model has been widely used in friction modeling and compensation.However,the new friction regime,named prestiction regime,cannot be accurately characterized by LuGre model in the latest research.With the extensive experimental observations of friction behaviors in the prestiction,some variables were abstracted to depict the rules in the prestiction regime.Based upon the knowledge of friction modeling,a novel friction model including the presliding regime,the gross sliding regime and the prestiction regime was then presented to overcome the shortcomings of the LuGre model.The reason that LuGre model cannot estimate the prestiction friction was analyzed in theory.Feasibility analysis of the proposed model in modeling the prestiction friction was also addressed.A parameter identification method for the proposed model based on multilevel coordinate search algorithm was presented.The proposed friction compensation strategy was composed of a nonlinear friction observer and a feedforward mechanism.The friction observer was designed to estimate the friction force in the presliding and the gross sliding regimes.And the friction force was estimated based on the model in the prestiction regime.The comparative trajectory tracking experiments were conducted on a simulator of inertially stabilization platforms among three control schemes:the single proportional–derivative(PD)control,the PD with LuGre model-based compensation and the PD with compensator based on the presented model.The experimental results reveal that the control scheme based on the proposed model has the best tracking performance.It reduces the peak-to-peak value(PPV)of tracking error to 0.2 mrad,which is improved almost 50%compared with the PD with LuGre model-based compensation.Compared to the single PD control,it reduces the PPV of error by 66.7%.

Parameter identification of inertially stabilized platforms using current command design

Accurate parameter identification is essential when designing controllers for inertially stabilized platforms （lSPs）. But traditional identification methods suffer from observation measurement noise and operating restrictions of ISPs. To address this issue, a novel identification method based on current command design and multilevel coordinate search （MCS） algorithm without any higher order measurement differentiations was proposed. The designed current commands were adopted to obtain parameter decoupled models with the platform operating under allowable conditions. MCS algorithm was employed to estimate the parameters based on parameter decoupled models. A comparison experiment between the proposed method and non-linear least square method was carried out and most of the relative errors of identified parameters obtained by the proposed method were below 10%. Simulation and experiment based on identified parameters were conducted. A velocity control structure was also developed with disturbance observer （DOB） for application in disturbance compensation control system of an ISR Experimental results show that the control scheme based on the identified parameters with DOB has the best disturbance rejection performance. It reduces the peak to peak value （PPV） of velocity error integral to 0.8 mrad which is much smaller than the value （10 mrad） obtained by the single velocity controller without DOB. Compared with the control scheme based on sweep model with DOB compensation, the proposed control scheme improves the PPV of velocity error integral by 1.625 times.

Evaluation of the Use of Inertial Platform for the Generation of Cartography

This study aims to analyze the quality of positioning orthophoto generated through the technique of direct georeferencing using metric digital camera system coupled to the laser system, and both systems were aided inertial navigation platform. For this, we compared the coordinates obtained in 16 control points collected in the field with dual-frequency GNSS （global navigation satellite system） receiver with those obtained in the orthophoto, flight conducted in June 2009 on the campus of the State University of Campinas--UNICAMP, using a medium format digital camera and laser system, with which we obtained images with a spatial resolution of 0.15 m. Taking into account the pattern accuracy cartographic used in Brazil, it is concluded that the products produced have a standard accuracy ＂A＂ to 1：2,000 scale, which represents the best quality level, both for planimetric as for altimetry, and that the procedure reached results consistent with cartographic products in 1：2,000 scale, representing a reduction of steps in the mapping process, necessary for the preparation of cartographic databases with reduction of time for preparation of design basis large civil engineering projects, such as roads, railways, studies of urban road systems, power plants and other infrastructure systems needed to develop the country.