This paper sets up a robotic manipulator model on slewing crane. The model can synthetically describe the dynamic behavior of the load of slewing crane in rotating, elevating and hoisting motions. The dynamic equation...This paper sets up a robotic manipulator model on slewing crane. The model can synthetically describe the dynamic behavior of the load of slewing crane in rotating, elevating and hoisting motions. The dynamic equations of the system are recursively derived by a Newton Euler method. The dynamic behavior of the load of slewing crane in rotating motion is simulated on a computer. The method of robotic dynamics to derive the dynamic equations of the swing of load is accurate and convenient and it has good regularity. The result of the study provides a base in theory on design of crane and an accurate mathematical model for controlling the swing of load.展开更多
Wide validation of self-developed program of natural circulation under oceanic conditions has been conducted compared with experimental data of inclination,zero-power condition and hot-state condition.Experiments were...Wide validation of self-developed program of natural circulation under oceanic conditions has been conducted compared with experimental data of inclination,zero-power condition and hot-state condition.Experiments were performed on a full-scale,whole parameterization natural circulation loop designed with reference to 5 MW experimental low temperature nuclear heating reactor(NHR)of Tsinghua University.Investigation of natural circulation and parameter effect under heaving motion was carried out using the program and comparison of heaving,inclination and rolling on natural circulation respectively to reveal the influence mechanism.Results indicate that:(1)significant influence of heaving motion on natural circulation was observed,and heaving motion with high level of strength and long cycle would lead to severe flow fluctuation;(2)slight effect was caused by short cycle heaving motion which was completely different from long cycle heaving motion;(3)comprehensive action of alternating force and flow density distribution would result in natural circulation under heaving motion;(4)most severe accidents maybe result from the long cycle heaving motion rather than inclination and rolling motion.Investigation of influence of heaving motion on natural circulation could have important reference significance in the optimization design of nuclear reactors.展开更多
文摘This paper sets up a robotic manipulator model on slewing crane. The model can synthetically describe the dynamic behavior of the load of slewing crane in rotating, elevating and hoisting motions. The dynamic equations of the system are recursively derived by a Newton Euler method. The dynamic behavior of the load of slewing crane in rotating motion is simulated on a computer. The method of robotic dynamics to derive the dynamic equations of the swing of load is accurate and convenient and it has good regularity. The result of the study provides a base in theory on design of crane and an accurate mathematical model for controlling the swing of load.
基金supported by the National Science and Technology Major Project(Grant No.ZX06901)the National Natural Science Foundation of China(Grant No.11072131)
文摘Wide validation of self-developed program of natural circulation under oceanic conditions has been conducted compared with experimental data of inclination,zero-power condition and hot-state condition.Experiments were performed on a full-scale,whole parameterization natural circulation loop designed with reference to 5 MW experimental low temperature nuclear heating reactor(NHR)of Tsinghua University.Investigation of natural circulation and parameter effect under heaving motion was carried out using the program and comparison of heaving,inclination and rolling on natural circulation respectively to reveal the influence mechanism.Results indicate that:(1)significant influence of heaving motion on natural circulation was observed,and heaving motion with high level of strength and long cycle would lead to severe flow fluctuation;(2)slight effect was caused by short cycle heaving motion which was completely different from long cycle heaving motion;(3)comprehensive action of alternating force and flow density distribution would result in natural circulation under heaving motion;(4)most severe accidents maybe result from the long cycle heaving motion rather than inclination and rolling motion.Investigation of influence of heaving motion on natural circulation could have important reference significance in the optimization design of nuclear reactors.
