First order sensitivity analysis of magnetorheological fluid damper based on the output damping force

With many features,the magnetorheological fluid( MRF) damper is widely applied in the semiactive vibration control system. And sensitivity analysis is an important method to study the influence weight of various parameters on damping force characteristics. A mathematical model of the output damping force on the MRF damper is established by the mechanism modeling method,a first order output sensitivity equation is deduced and the expression of the first order output sensitivity function is obtained. The first-order sensitivity functions of ten design parameters are solved,and the influence degree of system parameters change on the output force of MRF damper is analyzed by comparing the sensitivity index of the parameters. Two sensitivities of vibration velocity and control current are obtained through experiment to prove the other parameters sensitivity analysis conclusion by analogy verification,which provides guidance for the structure optimization design of MRF damper.

SLOW DRIFT DAMPING FORCE ACTING ON A CYLINDER IN WAVES

Hydrodynamic forces acting on a vertical or a horizontal cylinder undergoing Slow drift oscillation in waves were investigated experimentally and numerically. In the experimental study forced oscillation tests with low frequency and large amplitUde in regular waves and fortal two harmonic oscillation with combined low and high frequenceies were carried out. In the numerical study a finite difference method was used to simulate flows around a two dimensional oscillating cylinder.The results show that the slow drift damping farce coeffiCient dependS mainlyon the reduced velocity denned by the maximum velocity of the slow oscillation, period of incident wave and diameter of the column. However, a.rectangular cylinder oscillationg slowly in waves has much higher dameping coefficients than that oscillationg in two-harmonic mode. The numerical study revealed some relations between the damping force coefficients and the vortex shedding patterns.

Force Control Compensation Method with Variable Load Stiffness and Damping of the Hydraulic Drive Unit Force Control System

Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit（HDU）, and the contacting between the robot foot end and the ground is complex and variable, which increases the difficulty of force control inevitably. In the recent years, although many scholars researched some control methods such as disturbance rejection control, parameter self-adaptive control, impedance control and so on, to improve the force control performance of HDU, the robustness of the force control still needs improving. Therefore, how to simulate the complex and variable load characteristics of the environment structure and how to ensure HDU having excellent force control performance with the complex and variable load characteristics are key issues to be solved in this paper. The force control system mathematic model of HDU is established by the mechanism modeling method, and the theoretical models of a novel force control compensation method and a load characteristics simulation method under different environment structures are derived, considering the dynamic characteristics of the load stiffness and the load damping under different environment structures. Then, simulation effects of the variable load stiffness and load damping under the step and sinusoidal load force are analyzed experimentally on the HDU force control performance test platform, which provides the foundation for the force control compensation experiment research. In addition, the optimized PID control parameters are designed to make the HDU have better force control performance with suitable load stiffness and load damping, under which the force control compensation method is introduced, and the robustness of the force control system with several constant load characteristics and the variable load characteristics respectively are comparatively analyzed by experiment. The research results indicate that if the load characteristics are known, the force control compensation method presented in this paper has positive compensation effects on the load characteristics variation, i.e., this method decreases the effects of the load characteristics variation on the force control performance and enhances the force control system robustness with the constant PID parameters, thereby, the online PID parameters tuning control method which is complex needs not be adopted. All the above research provides theoretical and experimental foundation for the force control method of the quadruped robot joints with high robustness.

Capillary Property of Entangled Porous Metallic Wire materials and Its Application in Fluid Buffers:Theoretical Analysis and Experimental Study

Strong impact does serious harm to the military industries so it is necessary to choose reasonable cushioning material and design effective buffers to prevent the impact of equipment.Based on the capillary property entangled porous metallic wire materials(EPMWM),this paper designed a composite buffer which uses EPMWM and viscous fluid as cushioning materials under the low-speed impact of the recoil force device of weapon equipment(such as artillery,mortar,etc.).Combined with the capillary model,porosity,hydraulic diameter,maximum pore diameter and pore distribution were used to characterize the pore structure characteristics of EPMWM.The calculation model of the damping force of the composite buffer was established.The low-speed impact test of the composite buffer was conducted.The parameters of the buffer under low-speed impact were identified according to the model,and the nonlinear model of damping force was obtained.The test results show that the composite buffer with EPMWM and viscous fluid can absorb the impact energy from the recoil movement effectively,and provide a new method for the buffer design of weapon equipment(such as artillery,mortar,etc.).

Effect of Deflected Disc's Thickness to the Damping Characteristic of Tube Shock Absorbers

Research is conducted on the relationship between thickness of deflected disc and damping force of tube shock absorbers. By analyzing performing characteristics of the throttling valve using throttling theory of small clearance space and thin place deformation theories, mathematical correlation between disc thickness and magnitude of damping force is formulated. Moreover, a rule concerning change of damping force in terms of disc thickness is concluded.

Time-delay damping theory

In this paper,existing damping theories are briefly reviewed.On the basis of the existing damping theories,a new kind of damping theory,i.e.,the time-delay damping theory,is developed.In the time-delay damping theory,the damping force is considered to be directly proportional to the increment of displacement.The response analysis of an SDOF time-delay damping system is carried out,and the methods for obtaining the solution for a time-delay damping system in the time domain as well as the frequency domain are given.The comparison between results from different damping theories shows that the time-delay damping theory is both reasonable and convenient.

LOCAL ATTRACTORS FOR WEAKLY DAMPED FORCED KdV EQUATION IN THIN 2D DOMAINS

The existence of local attractors in thin 2D domains far the weakly damped forced KdV equation, whose principal operator is a non-self adjoint and non-sectorial one is given.

THE RESEARCH OF LONGTIME DYNAMIC BEHAVIOR IN WEAKLY DAMPED FORCED KdV EQUATION

It is presented that there exists approximate inertial manifolds in weakly damped forced Kdv equation with with periodic boundary conditionsIIbns. The approximate inertial manifolds provide approximant of the attractror by finite dimensional smooth manifolds which are exphcitly defined And the concepl leads to new numerical schemes which are well adapted to the longtime behavior of dynamical system.

THE RESEARCH OF BLOW-UP IN 2D WEAKLY DAMPED FORCED KdV EQUATION ON THIN DOMAIN

The time estimate of the blow up of the weakly damped forced KdV equation in thin 2 D domains is given.

Analytical approximations to a generalized forced damped complex Duffing oscillator:multiple scales method and KBM approach

In this investigation,some different approaches are implemented for analyzing a generalized forced damped complex Duffing oscillator,including the hybrid homotopy perturbation method(H-HPM),which is sometimes called the Krylov-Bogoliubov-Mitropolsky(KBM)method and the multiple scales method(MSM).All mentioned methods are applied to obtain some accurate and stable approximations to the proposed problem without decoupling the original problem.All obtained approximations are discussed graphically using different numerical values to the relevant parameters.Moreover,all obtained approximate solutions are compared with the 4thorder Runge-Kutta(RK4)numerical approximation.The maximum residual distance error(MRDE)is also estimated,in order to verify the high accuracy of the obtained analytic approximations.

STABILITY ANALYSIS OF TWO-DIMENSIONAL LANDSLIDES SUBJECTED TO SEISMIC LOADS

In the past, the pseudo-static method used to be the most common for evaluating the stability of landslides under seismic loads, in which static forces acting on the center of gravity of a sliding body are used to consider the effects of earthquake. However, seismic loads of rock and soil differ from time and location to time and location. Obviously, it is irrational for the pseudo-static approach to be applied to solving dynamic problems. In this paper, a displacement- pseudo-dynamic model is proposed to assess seismic stability of landslides, in which the sinusoidal- cosinusoidal wave is applied to simulating earthquake displacement, and an ＂amplification factor＂ of peak seismic displacement is referred to as the amplification of seismic wave when it propagates from the bottom to the top of the landslide. The effects of physico-mechanical behaviors of a sliding body on seismic stability of soil slopes are taken into account as well as inertia forces and damping forces. The sensitivity analyses on the permanent displacement and the dynamic factor of safety of landslides are studied in detail. Moreover, a large-scale Tangjiashan landslide that occurred in Wenchuan earthquake is investigated to verify the robustness and precision of the present method. It is found that the results from the present method is in good agreement with those from the previous method.