The synchronous tracking control problem of a hydraulic parallel manipulator with six degrees of freedom (DOF) is complicated since the inclusion of hydraulic elements increases the order of the system.To solve this p...The synchronous tracking control problem of a hydraulic parallel manipulator with six degrees of freedom (DOF) is complicated since the inclusion of hydraulic elements increases the order of the system.To solve this problem,cascade control method with an inner/outer-loop control structure is used,which masks the hydraulic dynamics with the inner-loop so that the designed controller takes into account of both the mechanical dynamics and the hydraulic dynamics of the manipulator.Furthermore,a cross-coupling control approach is introduced to the synchronous tracking control of the manipulator.The position synchronization error is developed by considering motion synchronization between each actuator joint and its adjacent ones based on the synchronous goal.Then,with the feedback of both position error and synchronization error,the tracking is proven to guarantee that both the position errors and synchronization errors asymptotically converge to zero.Moreover,the effectiveness of the proposed approach is verified by the experimental results performed with a 6-DOF hydraulic parallel manipulator.展开更多
目前沿海在建CPR1000项目,红沿河、宁德、阳江等"二代加"百万千瓦级先进压水堆,采用了MELTAC-N plus R3数字化控制系统,运用该平台实现堆芯冷却监测系统功能。本文具体分析了堆芯冷却监测系统的整体架构,及详细分析了事故后...目前沿海在建CPR1000项目,红沿河、宁德、阳江等"二代加"百万千瓦级先进压水堆,采用了MELTAC-N plus R3数字化控制系统,运用该平台实现堆芯冷却监测系统功能。本文具体分析了堆芯冷却监测系统的整体架构,及详细分析了事故后重要监测参数—堆芯饱和裕度和压力容器液位计算的过程,对于想深入了解CCMS功能实现的工程技术及运行维修人员具有一定的指导作用。展开更多
The principles and features of the pressure-liquidometer using optical fiber sensor,which is suitable to use in dangerous areas,are described.The instrument is eapecially suitable for automatic detecting of pressure a...The principles and features of the pressure-liquidometer using optical fiber sensor,which is suitable to use in dangerous areas,are described.The instrument is eapecially suitable for automatic detecting of pressure and liquid level in dangerous as large sacle oil tanker,cave oil tanker,civic liquid-gas tanker and so on.展开更多
This study focuses on the stress and displacement of a circular opening that is excavated in a strain-softening rock mass under hydraulic-mechanical coupling.It follows the generalized Hoek-Brown(H-B) failure criterio...This study focuses on the stress and displacement of a circular opening that is excavated in a strain-softening rock mass under hydraulic-mechanical coupling.It follows the generalized Hoek-Brown(H-B) failure criterion.Moreover,an improved numerical method and stepwise procedure are proposed.This method considers the deterioration of the strength,deformation,and dilation angle.It also incorporates the hydraulic-mechanical coupling and the variation of elastic strain in the plastic region.Several examples are conducted to demonstrate the validity and accuracy of the proposed solution through MATLAB programming and FLAC software.Parametric studies are also conducted to highlight the influence of hydraulic–mechanical coupling on stress and displacement.Results show that in this case,stress confinement is lower and tunnel convergences are higher than the corresponding stresses and displacements obtained when those factors are not considered.The displacement and plastic radius are also larger than those obtained when hydraulic-mechanical coupling is not considered.展开更多
基金Project(50375139) supported by the National Natural Science Foundation of ChinaProject(NCET-04-0545) supported by the New Century Excellent Talent Plan of the Ministry of Education of China
文摘The synchronous tracking control problem of a hydraulic parallel manipulator with six degrees of freedom (DOF) is complicated since the inclusion of hydraulic elements increases the order of the system.To solve this problem,cascade control method with an inner/outer-loop control structure is used,which masks the hydraulic dynamics with the inner-loop so that the designed controller takes into account of both the mechanical dynamics and the hydraulic dynamics of the manipulator.Furthermore,a cross-coupling control approach is introduced to the synchronous tracking control of the manipulator.The position synchronization error is developed by considering motion synchronization between each actuator joint and its adjacent ones based on the synchronous goal.Then,with the feedback of both position error and synchronization error,the tracking is proven to guarantee that both the position errors and synchronization errors asymptotically converge to zero.Moreover,the effectiveness of the proposed approach is verified by the experimental results performed with a 6-DOF hydraulic parallel manipulator.
文摘目前沿海在建CPR1000项目,红沿河、宁德、阳江等"二代加"百万千瓦级先进压水堆,采用了MELTAC-N plus R3数字化控制系统,运用该平台实现堆芯冷却监测系统功能。本文具体分析了堆芯冷却监测系统的整体架构,及详细分析了事故后重要监测参数—堆芯饱和裕度和压力容器液位计算的过程,对于想深入了解CCMS功能实现的工程技术及运行维修人员具有一定的指导作用。
文摘The principles and features of the pressure-liquidometer using optical fiber sensor,which is suitable to use in dangerous areas,are described.The instrument is eapecially suitable for automatic detecting of pressure and liquid level in dangerous as large sacle oil tanker,cave oil tanker,civic liquid-gas tanker and so on.
基金supported by the National Basic Research Program of China("973"Project)(Grant No.2013CB036004)the National Natural Science Foundation of China(Grant No.51208523)China Postdoctoral Science Foundation(Grant No.2003034468)
文摘This study focuses on the stress and displacement of a circular opening that is excavated in a strain-softening rock mass under hydraulic-mechanical coupling.It follows the generalized Hoek-Brown(H-B) failure criterion.Moreover,an improved numerical method and stepwise procedure are proposed.This method considers the deterioration of the strength,deformation,and dilation angle.It also incorporates the hydraulic-mechanical coupling and the variation of elastic strain in the plastic region.Several examples are conducted to demonstrate the validity and accuracy of the proposed solution through MATLAB programming and FLAC software.Parametric studies are also conducted to highlight the influence of hydraulic–mechanical coupling on stress and displacement.Results show that in this case,stress confinement is lower and tunnel convergences are higher than the corresponding stresses and displacements obtained when those factors are not considered.The displacement and plastic radius are also larger than those obtained when hydraulic-mechanical coupling is not considered.
