列车轴控防滑制动系统试验平台设计

介绍了基于压电阀的列车轴控防滑制动系统的组成及其试验平台。研究了硅压阻式压力传感器的温度补偿技术，以满足室外长期稳定工作的需求。选择了基于霍尔效应的速度传感器并研究了传感器性能测试方法，提出了多特征参数的指纹识别方法，并应用于速度传感器的故障在线诊断。以压电阀为新型气压控制部件并实验验证了压电阀较宽的工作环境温度范围；调速系统使试验平台可以在实验室环境中模拟列车运行状态，实现了列车常用制动、紧急制动、防滑保护、故障诊断等试验功能。

基于轴重转移的轴控系统制动力分配研究

现有的列车制动力分配策略按整辆车重进行分配,未考虑轴重转移对列车安全运行的影响,严重情况下可能导致列车滑行。轴控制动控制系统以单轴为基本控制单元,进行制动力的计算和分配,能够提高制动控制精度和缩短响应时间。基于轴控制动控制系统提出了一种车辆轴重转移的计算方法,利用重心力矩平衡方程分别对车体和转向架进行受力分析,利用一阶状态观测器估计轮轨力转矩,同时考虑风阻及车钩作用力,对车辆各轴实际轴重进行计算,分别给出了水平轨道和坡度轨道上车辆实际轴重的计算方法,根据每根轴的实际轴重进行制动力分配。仿真分析和试验验证结果表明所提出方法能够更充分地利用轮轨黏着,同时降低了发生滑行的风险,能够有效提高列车运行安全性。

吸力历史对非饱和粉土动力变形特性的影响

以非饱和粉土为研究对象,利用吸力可控的动三轴仪对其进行动力变形试验,得到了在不同净围压和不同吸力路径下非饱和粉土试样的骨架曲线、动弹性模量和阻尼比,研究了先脱湿后吸湿的吸力历史对其动力变形特性的影响。结果表明,在同一净围压和吸力下,非饱和粉土试样经历过先脱湿后吸湿的骨架曲线和动弹性模量比仅经过脱湿的要高,而试样经历过先脱湿后吸湿的阻尼比比仅经过脱湿的要小;此外,随着非饱和粉土试样经历过最大吸力的增大,其骨架曲线和动弹性模量增大,而阻尼比减小。试验结果可用非饱和土的平均骨架应力和弯液面水的表面张力作用来解释,并用两项联合预测非饱和土试样的最大剪切模量。

广吸力范围内非饱和粉土动力变形特性

以非饱和粉土为研究对象,利用饱和盐溶液蒸汽平衡法和吸力可控的动三轴仪进行动力变形试验,得到了广吸力范围内非饱和粉土试样在净围压和吸力基本不变条件下的骨架曲线、动弹性模量和阻尼比,研究了吸力对非饱和粉土动力变形特性的影响。结果表明,在同一净围压下,非饱和粉土试样的骨架曲线和动弹性模量随着吸力增大而提高,而阻尼比随着吸力增大而减小。此外,随着试样的水力状态从边界效应区到过渡区再到残余区的变化,非饱和粉土试样的骨架曲线和动弹性模量的提高幅度逐渐减小,而阻尼比减小的趋势显著,动弹性模量随应变的衰减率随着吸力的增大而减小。

Realization of orientation interpolation of 6-axis articulated robot using quaternion

In general, the orientation interpolation of industrial robots has been done based on Euler angle system which can result in singular point （so-called Gimbal Lock）. However, quaternion interpolation has the advantage of natural （specifically smooth） orientation interpolation without Gimbal Lock. This work presents the application of quatemion interpolation, specifically Spherical Linear IntERPolation （SLERP）, to the orientation control of the 6-axis articulated robot （RS2） using LabVIEW and RecurDyn. For the comparison of SLERP with linear Euler interpolation in the view of smooth movement （profile） of joint angles （torques）, the two methods are dynamically simulated on RS2 by using both LabVIEW and RecurDyn. Finally, our original work, specifically the implementation of SLERP and linear Euler interpolation on the actual robot, i.e. RS2, is done using LabVIEW motion control tool kit. The SLERP orientation control is shown to be effective in terms of smooth joint motion and torque when compared to a conventional （linear） Euler interpolation.

Torsional vibration active control of hybrid construction machinery complex shafting

Due to the coaxial connection of engine, motor and pump, the dynamic characteristics of hybrid construction machinery are changed, which generates a new torsional vibration problem of multi-power sources. To reduce the torsional vibration of the hybrid construction machinery complex shafting, torsional vibration active control was proposed. The three-mass model of coaxial shafting of hybrid construction machinery was established. The PID control and the fuzzy sliding mode control were chosen to weaken torsional vibration by controlling the motor speed and torque. The simulation results show that the fuzzy sliding mode control has 12% overshoot of the PID control when the engine torque changes. The active control is effective and can realize smooth power switch.

H_∞ control of an overactuated tilt rotors quadcopter

In recent years,unmanned aerial vehicles(UAVs)have acquired an increasing interest due to their wide range of applications in military,scientific,and civilian fields.One of the quadcopter limitations is its lack of full actuation property which limits its mobility and trajectory tracking capabilities.In this work,an overactuated quadcopter design and control,which allows independent tilting of the rotors around their arm axis,is presented.Quadcopter with this added tilting mechanism makes it possible to overcome the aforementioned mobility limitation by achieving full authority on torque and force vectoring.The tilting property increases the control inputs to 8(the 4 propeller rotation speed plus the 4 rotor tilting angles)which gives a full control on the quadcopter states.Extensive mathematical model for the tilt rotor quadcopter is derived based on the Newton-Euler method.Furthermore,the feedback linearization method is used to linearize the model and a mixed sensitivity H∞optimal controller is then designed and synthesized to achieve the required performance and stability.The controlled system is simulated to assure the validity of the proposed controller and the quadcopter design.The controller is tested for its effectiveness in rejecting disturbances,attenuating sensor noise,and coping with the model uncertainties.Moreover,a complicated trajectory is examined in which the tilt rotor quadcopter has been successfully followed.The test results show the supremacy of the overactuated quadcopter over the traditional one.

Controller design based on viscoelasticity dynamics model and experiment for flexible drive unit

In order to ensure that the system has the advantage of light weight and vibration absorption, the steel rope is used as a flexible transmission part. A flexible drive unit(FDU) is developed, whose features are guided by steel rope, increasing force by the movable pulley group, modular, convenient and flexible. Dynamics model for controller is deduced based on the constitutive equation of viscoelasticity. Controller is designed for position control and is based on the viscoelasticity dynamics model compensation control strategy proposed. The control system is based on the TURBO PMAC multi-axis motion control card.Prototype loading experiments and velocity experiments results show that the FDU can reach 2 Hz with no load and the max speed of 30(°)/s. The FDU has the capability of the load torque 11.2 N·m and the speed of 24(°)/s simultaneously, and the frequency response is 1.3 Hz. The FDU can be used to be the pitch joint of hip for biped robot whose walking speed is 0.144 km/h theoretically.

Control of Pinhole Defects Formation in Semi-flexible Coaxial Cable by Vertical Tin-Plating Process

Holistic tin-plating on the outer conductor is one of the key processes in the manufacture of semi-flexible coaxial cable, which is widely applied to the third generation (3G) mobile communication system. However, in the traditional horizontal tin-plating process, disadvantages such as the pinhole defects and low productivity effect cannot be avoided. In this paper, a vertical tin-plating process was proposed to reduce the pinhole defects and improve the tincoating quality. Compared with the traditional horizontal tin-plating process, the immersion length was reduced from 300-400 mm to 10-100 mm and the tin-plating time was reduced from 7 s to 3 s in the proposed method. The experimental results indicate that immersion length and time are key parameters for the tin-plating quality. With this new tin-plating process, the experimental results show that the pinhole defects can be eliminated effectively by controlling the immersion depth below 100 mm and tin-plating time at 3 s. The thickness of tin-coating increased from not more than 5 μm to 12.3 μm with the proposed vertical tin-plating process. Meanwhile, the thickness of the intermetallic compounds (IMCs) layer between the tin-coating and copper wires was reduced from 3.26 μm to 0.62 μm if the immersion time decreased from 30 s to 1 s. Besides, a self-developed flux, which possesses a boiling point or decomposed temperature of active components over 300℃, exhibits a better efficiency in reducing the pinhole formation.

Dynamic Control of a Flexible Shaft Mounted in Adaptive or Active Bearing

The dynamic behavior of rotors is highly influenced by bearing characteristics. In previous works, the authors have shown that it may be beneficial to adapt the bearing behavior to the shaft behavior. Several adaptive and active components will be developed in this paper in order to control the shaft dynamical amplitude. Different models of hydrodynamic bearings behavior are described. The Reynolds equation resolution may be done by numerical or analytical solutions. A physical analysis of the equation of thin films will identify the most sensitive parameters. The shaft flexibility is taking into account by a modal approach. The fluid-structure coupling process is a simulation, step by step, of the rotor behavior. At each step, the nonlinear fluid force is numerically calculated to obtain the unbalanced shaft response. The results, presented in this paper, concern the dynamic response of unbalanced shaft mounted in adaptive or active bearings： bearings with variable clearance, variable viscosity or variable housing speed. It is shown that the fluid bearing parameters must be adapted to the rotor speed （in particular near or far a critical speed）. Then, the paper presents a new kind of active bearing. It works with a mechanical control of the housing position. Several parameters are tested and compared. The robustness of the dynamic control parameters is presented. In conclusion, the bearing adaptation could be very useful to control the shaft dynamic. This limits the effect of the critical speed, in particular by diminishing the shaft amplitude and the dynamic forces transmitted to the housing.

Harmonic amplitude-phase adaptive control and its application in three-axis simulators

This paper proposes a compensation method for using the Harmonic Amplitude-Phase Adaptive Control(HAPAC)to increase the precision of sinusoidal motion simulators. It also expounds on the HAPAC principle and structural disposition, develops the HAPAC control laws and analyzes the system stability in the HAPAC. A method for further improving the precision using online identification of the system’s frequency-response models is presented. The tested data and tracking errors of the simulator demonstrate that the HAPAC makes the sinusoidal motions achieve higher precision than the common classical controls. The HAPAC can also be used in other tracking systems of precision sinusoidal motions.

Contouring error modeling and simulation of a four-axis motion control system

A layered modeling method is proposed to resolve the problems resulting from the complexity of the error model of a multi-axis motion control system. In this model, a low level layer can be used as a virtual axis by the high level layer. The first advantage of this model is that the complex error model of a four-axis motion control system can be divided into several simple layers and each layer has different coupling strength to match the real control system. The second advantage lies in the fact that the controller in each layer can be designed specifically for a certain purpose. In this research, a three-layered cross coupling scheme in a four-axis motion control system is proposed to compensate the contouring error of the motion control system. Simulation results show that the maximum contouring error is reduced from 0.208 mm to 0.022 mm and the integration of absolute error is reduced from 0.108 mm to 0.015 mm, which are respectively better than 0.027 mm and 0.037 mm by the traditional method. And in the bottom layer the proposed method also has remarkable ability to achieve high contouring accuracy.

Development of two-axis control index table driven by direct drive motors

The stability and reliability of a tilting index table should be considered at the design stage. A design method for the lightweight and improvement of the stability of the structure in a tilting index table was proposed using a commercial analysis program, ANSYS Workbench 12, by analyzing the static-thermal characteristics of the developed high-accuracy tilting index table at its design stage. The results of the performed structural analysis show that the maximum stress is generated at the stock tail part. An optimum design for the stock tail part was carried out to reduce the maximum stress and deformation. Also, the design variables were determined by considering the support of the stock tail part for the C-axis body. In the comparison of the results before and after the optimization, the maximum deformation and stress are improved by 2.8% and 8%, respectively.

The Effect of Pivot Bearing Assembly Process on Natural Frequency of Actuator Arm

This paper presents the study of vibration in each element of hard disk drive, especially the resonance of the actuator arm. The resonance occurs in hard disk drive is considered as one of the quality controlled parameter. The main purpose of the research is to investigate the relationship between the pivot bearing assembly process and the natural frequency of the actuator arm. The experiment is designed using the information from the hard disk drive manufacturer. The selected pivot bearing assembly process parameters have been controlled. The modal analysis of the assembled actuator arms has been done. The experiment results show the relationship of the specific process parameters and some of the actuator arm＇s modal frequency. The results also show that the affected vibration mode is the torsion mode only.

Robust adaptive cross-coupling position control of biaxial motion system

The stability and synchronous performance are usually hard to be improved simultaneously in the biaxial cross-coupling position motion control system.Based on analyzing the characteristics of the cross-coupling control system,a robust adaptive cross-coupling control strategy is proposed.To restrict influences of destabilizing factors and improve both of stability and synchronous performance,the strategy forces dual axes to track the same reference model using Narendra adaptive control theory.And then,a robust parameters adaptive law is proposed.The stability analysis of the proposed strategy is conducted by applying Lyapunov stability theory.Related simulations and experiments indicate that the proposed strategy can improve synchronous performance and stability simultaneously.

Nonlinear optimal control of rotating flexible shaft in active magnetic bearings

The optimal control of nonlinear systems has been studied for years by many researchers. However, the application of optimal control problem to nonlinear non-affine systems needs more attention. In this paper we propose an optimal control design technique for a class of nonlinear and control non-affine equations. The dynamic equations of a flexible shaft supported by a pair of active magnetic bearings (AMBs) are used as the nonlinear control non-affine equations. Mathematical model for the flexible beam is chosen to be the well known Timoshenko beam model, which takes rotary inertia and shear deformations into account, and it is assumed that the shaft is supported by two frictionless bearings at the ends. The effective control of such systems is extremely important for very high angular velocity shafts which are a feature of many modern machines. The control must be able to cope with unbalanced masses and hence be very robust. We shall approach the problem by discretising the Timoshenko beam model and using standard difference formulae to develop a finite-dimensional model of the system. Then we use a recently developed technique for controlling nonlinear systems by reducing the problem to a sequence of linear time-varying (LTV) systems. An optimal control designed for each approximating linear, time-varying system and recent results show that this method will converge uniformly on compact time intervals to the optimal solution.

Experimental Study of Improved HAWT Performance in Simulated Natural Wind by an Active Controlled Multi-Fan Wind Tunnel

The effects of turbulent intensity and vortex scale of simulated natural wind on performance of a horizontal axis wind turbine(HAWT) are mainly investigated in this paper. In particular, the unsteadiness and turbulence of wind in Japan are stronger than ones in Europe and North America in general. Hence, Japanese engineers should take account of the velocity unsteadiness of natural wind at installed open-air location to design a higher performance wind turbine. Using the originally designed five wind turbines on the basis of NACA and MEL blades, the dependencies of the wind frequency and vortex scale of the simulated natural wind are presented. As the results, the power coefficient of the newly designed MEL3-type rotor in the simulated natural wind is 130% larger than one in steady wind.

Cross-coupled controller design for triaxial motion systems based on second-order contour error estimation

The cross-coupled control(CCC)is widely applied to reduce contour errors in contour-following applications.In such situation,the contour error estimation plays an important role.Traditionally,the linear or second-order estimation approach is adopted for biaxial motion systems,whereas only linear approach is available for triaxial systems.In this paper,the second-order contour error estimation,which was presented in our previous work,is utilized to determine the variable CCC gains for motion control systems with three axes.An integrated stable motion control strategy,which combines the feedforward,feedback and CCC controllers,is developed for multiaxis CNC systems.Experimental results on a triaxial platform indicate that the CCC scheme based on the second-order estimation,compared with that based on the linear one,significantly reduces the contour error even in the conditions of high tracking feedrate and small radius of curvature.