In this paper a novel approach for the analysis of non stationary response of aircraft landing gear taxiing over an unevenness runway at variable velocity is explored, which is based on the power spectral density met...In this paper a novel approach for the analysis of non stationary response of aircraft landing gear taxiing over an unevenness runway at variable velocity is explored, which is based on the power spectral density method. A concerned analytical landing gear model for simulating actual aircraft taxiing is formulated. The equivalent linearization results obtained by probabilistic method are inducted to treat landing gear non linear parameters such as shock absorber air spring force, hydraulic damping and Coulomb friction, tire stiffness and damping. The power spectral density for non stationary analysis is obtained via variable substitution and then Fourier transform. A representative response quantity, the overload of the aircraft gravity center, is analyzed. The frequency response function of the gravity overload is derived. The case study demonstrates that under the same reached velocity the root mean square of the gravity acceleration response from constant acceleration taxiing is smaller than that from constant velocity taxiing and the root mean square of the gravity acceleration response from lower acceleration taxiing is greater than that from higher acceleration.展开更多
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
The oil film clutch, which is superior in speed adjustment, is capable of being used in the belt conveyor to carry out soft start operation. According to running properties of both belt conveyor and oil film clutch...The oil film clutch, which is superior in speed adjustment, is capable of being used in the belt conveyor to carry out soft start operation. According to running properties of both belt conveyor and oil film clutch, equations that are used to decide the lubricating oil flow and the number of oil films (i.e. the number of rotating and stationary plates) are deduced theoretically. Also key parameters are provided for the design of the hydraulic system. All these together provide the theoretical basis for the soft start design of the belt conveyor and references for the application of the oil film clutch in similar fields.展开更多
A new passive adaptive shock absorber of the landing gear with double-cavity and dual-damping is studied. Its mathematical model and the virtual prototype are established based on the dynamics simulation software ADAM...A new passive adaptive shock absorber of the landing gear with double-cavity and dual-damping is studied. Its mathematical model and the virtual prototype are established based on the dynamics simulation software ADAMS. The landing dynamic characteristics and the effect of the parameters on the proposed adaptive shock absorber are analyzed. The results show that the proposed adaptive shock absorber has the slightly better landing performance at the normal load case and much less overload at the crudely landing case than the shock absorber with single-cavity and variable orifice. It also can be concluded that the overload of the proposed adaptive shock absorber can be reduced through increasing the volumes of both cavities or decreasing the pressure of the high pressure cavity or increasing the pressure of the low pressure cavity.展开更多
The mechanism of a hydro-viscous soft start is of great importance in the design of a hydro-viscous clutch and its control system. To explain the mechanism of a hydro-viscous soft start, the startup process of a belt ...The mechanism of a hydro-viscous soft start is of great importance in the design of a hydro-viscous clutch and its control system. To explain the mechanism of a hydro-viscous soft start, the startup process of a belt conveyor was numerically analyzed with the modified Reynolds equation, an energy equation and a temperature-viscosity equation. The effect of temperature and grooves of the friction disk surface on torque transfer and load capacity of the oil film have also been analyzed. The results show that 1) the grooves are the basis of forming dynamic pressure but they may reduce the capacity of torque transfer to a certain extent, 2) during the startup process, temperature has little effect on torque transfer and load capacity and the variation in load capacity of the oil film is very small, indicating that it is preferable to use the flow rate as a control object than the pressure of the feed cylinder. The results have been verified by an experiment.展开更多
Ship-mounted container cranes are challenging industrial applications of nonlinear pendulum-like systems with oscillating disturbance which can cause them unstable.Since wave-induced ship motion causes the hoisted con...Ship-mounted container cranes are challenging industrial applications of nonlinear pendulum-like systems with oscillating disturbance which can cause them unstable.Since wave-induced ship motion causes the hoisted container to swing during the transfer operation,the swing motion may be dangerously large and the operation must be stopped.In order to reduce payload pendulation of ship-mounted crane,nonlinear dynamics of ship-mounted crane is derived and a control method using T-S fuzzy model is proposed.Simulation results are given to illustrate the validity of the proposed design method and pendulation of ship-mounted crane is reduced significantly.展开更多
A new intelligent anti-swing control scheme,which combined fuzzy neural network(FNN) and sliding mode control(SMC) with particle swarm optimization(PSO),was presented for bridge crane.The outputs of three fuzzy neural...A new intelligent anti-swing control scheme,which combined fuzzy neural network(FNN) and sliding mode control(SMC) with particle swarm optimization(PSO),was presented for bridge crane.The outputs of three fuzzy neural networks were used to approach the uncertainties of the positioning subsystem,lifting-rope subsystem and anti-swing subsystem.Then,the parameters of the controller were optimized with PSO to enable the system to have good dynamic performances.During the process of high-speed load hoisting and dropping,this method can not only realize the accurate position of the trolley and eliminate the sway of the load in spite of existing uncertainties,and the maximum swing angle is only ±0.1 rad,but also completely eliminate the chattering of conventional sliding mode control and improve the robustness of system.The simulation results show the correctness and validity of this method.展开更多
An optimization model for scheduling of quay cranes (QCs) and yard trailers was proposed to improve the overall efficiency of container terminals. To implement this model, a two-phase tabu search algorithm was designe...An optimization model for scheduling of quay cranes (QCs) and yard trailers was proposed to improve the overall efficiency of container terminals. To implement this model, a two-phase tabu search algorithm was designed. In the QCs scheduling phase of the algorithm, a search was performed to determine a good QC unloading operation order. For each QC unloading operation order generated during the QC's scheduling phase, another search was run to obtain a good yard trailer routing for the given QC's unloading order. Using this information, the time required for the operation was estimated, then the time of return to availability of the units was fed back to the QC scheduler. Numerical tests show that the two-phase Tabu Search algorithm searches the solution space efficiently, decreases the empty distance yard trailers must travel, decreases the number of trailers needed, and thereby reduces time and costs and improves the integration and reliability of container terminal operation systems.展开更多
Splash zone crossing of the structures with large horizontal surface （e.g. manifolds） and the structures having large weight variation in water and air （e.g. suction anchors） is a critical marine operation. This i...Splash zone crossing of the structures with large horizontal surface （e.g. manifolds） and the structures having large weight variation in water and air （e.g. suction anchors） is a critical marine operation. This is due to the large slamming forces and added mass of the structure, which results in high dynamic loads on the crane. The solution to this could be attaching a PHC （Passive Heave Compensator） between the crane hook and the payload. This paper analyzes the deployment of a subsea manifold with and without PHC unit in North Sea at a water depth of approximately 370 m. A detailed dynamic analysis is done for a seastate of 3 m significant wave height （Hs） over a range of zero up-crossing period （Tz） varying from 3s to 13 s. For better understanding of the result analysis has been done in two stages. The first stage covers the lowering of manifold through the splash zone while second stage covers the seabed landing of the manifold. Based on the results of the analyses it is concluded that PHC tends to reduce the dynamic peak load on the crane. Besides this, it also mitigates the risk of slack wire situations during splash zone crossing of the payload. Furthermore, reduction in both landing velocity and crane tip velocity is also achieved by using a well-designed PHC unit.展开更多
文摘In this paper a novel approach for the analysis of non stationary response of aircraft landing gear taxiing over an unevenness runway at variable velocity is explored, which is based on the power spectral density method. A concerned analytical landing gear model for simulating actual aircraft taxiing is formulated. The equivalent linearization results obtained by probabilistic method are inducted to treat landing gear non linear parameters such as shock absorber air spring force, hydraulic damping and Coulomb friction, tire stiffness and damping. The power spectral density for non stationary analysis is obtained via variable substitution and then Fourier transform. A representative response quantity, the overload of the aircraft gravity center, is analyzed. The frequency response function of the gravity overload is derived. The case study demonstrates that under the same reached velocity the root mean square of the gravity acceleration response from constant acceleration taxiing is smaller than that from constant velocity taxiing and the root mean square of the gravity acceleration response from lower acceleration taxiing is greater than that from higher acceleration.
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.
文摘The oil film clutch, which is superior in speed adjustment, is capable of being used in the belt conveyor to carry out soft start operation. According to running properties of both belt conveyor and oil film clutch, equations that are used to decide the lubricating oil flow and the number of oil films (i.e. the number of rotating and stationary plates) are deduced theoretically. Also key parameters are provided for the design of the hydraulic system. All these together provide the theoretical basis for the soft start design of the belt conveyor and references for the application of the oil film clutch in similar fields.
基金Supported by the National Natural Science Foundation of China(60472118)~~
文摘A new passive adaptive shock absorber of the landing gear with double-cavity and dual-damping is studied. Its mathematical model and the virtual prototype are established based on the dynamics simulation software ADAMS. The landing dynamic characteristics and the effect of the parameters on the proposed adaptive shock absorber are analyzed. The results show that the proposed adaptive shock absorber has the slightly better landing performance at the normal load case and much less overload at the crudely landing case than the shock absorber with single-cavity and variable orifice. It also can be concluded that the overload of the proposed adaptive shock absorber can be reduced through increasing the volumes of both cavities or decreasing the pressure of the high pressure cavity or increasing the pressure of the low pressure cavity.
文摘The mechanism of a hydro-viscous soft start is of great importance in the design of a hydro-viscous clutch and its control system. To explain the mechanism of a hydro-viscous soft start, the startup process of a belt conveyor was numerically analyzed with the modified Reynolds equation, an energy equation and a temperature-viscosity equation. The effect of temperature and grooves of the friction disk surface on torque transfer and load capacity of the oil film have also been analyzed. The results show that 1) the grooves are the basis of forming dynamic pressure but they may reduce the capacity of torque transfer to a certain extent, 2) during the startup process, temperature has little effect on torque transfer and load capacity and the variation in load capacity of the oil film is very small, indicating that it is preferable to use the flow rate as a control object than the pressure of the feed cylinder. The results have been verified by an experiment.
基金work supported by Changwon National University in 2011-2012work partly supported by the second stage of Brain Korea 21 Projects
文摘Ship-mounted container cranes are challenging industrial applications of nonlinear pendulum-like systems with oscillating disturbance which can cause them unstable.Since wave-induced ship motion causes the hoisted container to swing during the transfer operation,the swing motion may be dangerously large and the operation must be stopped.In order to reduce payload pendulation of ship-mounted crane,nonlinear dynamics of ship-mounted crane is derived and a control method using T-S fuzzy model is proposed.Simulation results are given to illustrate the validity of the proposed design method and pendulation of ship-mounted crane is reduced significantly.
基金Project(51075289) supported by the National Natural Science Foundation of ChinaProject(20122014) supported by the Doctor Foundation of Taiyuan University of Science and Technology,China
文摘A new intelligent anti-swing control scheme,which combined fuzzy neural network(FNN) and sliding mode control(SMC) with particle swarm optimization(PSO),was presented for bridge crane.The outputs of three fuzzy neural networks were used to approach the uncertainties of the positioning subsystem,lifting-rope subsystem and anti-swing subsystem.Then,the parameters of the controller were optimized with PSO to enable the system to have good dynamic performances.During the process of high-speed load hoisting and dropping,this method can not only realize the accurate position of the trolley and eliminate the sway of the load in spite of existing uncertainties,and the maximum swing angle is only ±0.1 rad,but also completely eliminate the chattering of conventional sliding mode control and improve the robustness of system.The simulation results show the correctness and validity of this method.
文摘An optimization model for scheduling of quay cranes (QCs) and yard trailers was proposed to improve the overall efficiency of container terminals. To implement this model, a two-phase tabu search algorithm was designed. In the QCs scheduling phase of the algorithm, a search was performed to determine a good QC unloading operation order. For each QC unloading operation order generated during the QC's scheduling phase, another search was run to obtain a good yard trailer routing for the given QC's unloading order. Using this information, the time required for the operation was estimated, then the time of return to availability of the units was fed back to the QC scheduler. Numerical tests show that the two-phase Tabu Search algorithm searches the solution space efficiently, decreases the empty distance yard trailers must travel, decreases the number of trailers needed, and thereby reduces time and costs and improves the integration and reliability of container terminal operation systems.
文摘Splash zone crossing of the structures with large horizontal surface （e.g. manifolds） and the structures having large weight variation in water and air （e.g. suction anchors） is a critical marine operation. This is due to the large slamming forces and added mass of the structure, which results in high dynamic loads on the crane. The solution to this could be attaching a PHC （Passive Heave Compensator） between the crane hook and the payload. This paper analyzes the deployment of a subsea manifold with and without PHC unit in North Sea at a water depth of approximately 370 m. A detailed dynamic analysis is done for a seastate of 3 m significant wave height （Hs） over a range of zero up-crossing period （Tz） varying from 3s to 13 s. For better understanding of the result analysis has been done in two stages. The first stage covers the lowering of manifold through the splash zone while second stage covers the seabed landing of the manifold. Based on the results of the analyses it is concluded that PHC tends to reduce the dynamic peak load on the crane. Besides this, it also mitigates the risk of slack wire situations during splash zone crossing of the payload. Furthermore, reduction in both landing velocity and crane tip velocity is also achieved by using a well-designed PHC unit.
